for clothing, not sure yet.

But for weapons, if you put guns and ammunition in the container. "in your base" they will automatically grab it. along as it is a weapon that needs magazine. guns like shotgun or revolver that has no magazines will not be claimed by ai. (cuz maybe a complicated coding.)

Also don't put them in guard mode. cuz they will not move around to collect the items. Make sure to unset guard and wait for them to collect weapons in the container.

Lastly, i haven't tried but in the description. Ai can collect weapons and mags from a dead body, best is the bandits, if you kill some bandits with guns, you friendly ai will automatically loot it for guns and ammos/mags.