there is always an increased risk of transmission even with the care that was exercised. a person with herpes is clearly more contagious during an active outbreak but shedding of the virus can occur even when an outbreak is not obvious. herpes viruses can remain on objects for hours. while the chance of transmission may be very small because of the caution that was exercised it would not be "zero".
my partner had sex with someone with herpes they had no skin to skin contact but used a strap on could she have it. ? . she said she used toy cleaner and doesn't have an outbreak