We've had the waffle-weave robes in our balcony cabin (although we don't use them). I agree that you should request one on your preferences page. It sometimes takes until the evening to get one, as they have to be laundered after the last cruise.
I take a caftan that serves as a robe and covers me up enough to let Room Service in, go just outside the cabin or go a few steps to the self-serve laundry. It takes up hardly any room in my luggage. DH wears jersey shorts and a T-shirt or sweats. He packs for himself
so I don't have to worry about how much room they take up!
Yes, the taxes are all included in the price of your cruise.
P. S. You'll love