If the strap-on/toy was used and not cleaned, then immediately went to be used with someone else, maybe. If any amount of time had passed, probably not.
Keep in mind that the incubation period for HPV is at least a few months. This means that it's a few months, if not longer, before anyone gets symptoms after they've been infected.
How was everyone cleared?
Have you all been vaccinated against HPV? It would be a good idea to talk to your doctor(s) about it.