It mostly depends on the surface of the item, not its value. Clothes and anything lined in fabric is gonna be toss, but you'd just replace it. Most things made of metal or are very glossy will be kept.
I would just throw clothes into the washing machine and maybe set it to a more thorough setting. Fabric lined would be a small steam cleaner with some enzyme cleaning spray until the water was clear and the staining was gone.
I've cleaned up too much dog poop to be overly concerned at this point.