Every dog's skin makes oil and has bacteria and yeast living on it.
They feed on the oil, and what they make from it (basically poop) is the smell.
Your dog lies on their bed and the throw, and the oil goes with them.
Think of a drop of oil in a glass of water. It sits there and doesn't dissolve.
The same thing happens in the washing machine, particularly if the fabric is polyester, which clings onto oil.
Most detergents get some of it out.
What's left carries over to the next wash, and the next, and builds up in the fibres.
Then the fabric warms up. They lie on it, the radiator comes on, you pull it over your knees. Warm oil gives off more smell than cold.
So it comes out of the machine smelling of nothing much, and by teatime it smells of your dog.
Washing hotter feels like the answer. Mostly it isn't.
One study found cooler water did the better job on the oily part of the smell.
So it isn't coming back, it's been in the fabric the whole time, waiting to warm up.