I recall some of our previous discussions. Some of the advice I gave was that while some things may be theoretically possible, they are so unlikely that they might as well be classified as impossible, and may actually never happen in the real world. Getting HPV from a towel in any circumastance would be one of those situations. It is even less likely after it had sat for 16 hours.
Technically, yes it's possible. Reality is the risk is super low. HPV needs ideal skin to skin conditions to spread.