That's a good question. As told to me when we started feeding raw, some 20 years ago, as long as the dog(s) doesn't touch the toy for 1 hour afterwards, then it doesn't need washing. If it's touched, then yes, wash with hot water - no detergents and let dry.
At our house, we have weird dogs, who love to carry their bowls around after eating (Opal doesn't do this any more, it's an age thing), so no toys get touched. We don't have any stuffie toys around because Ursa destuffs them. We wash their stainless steel bowls every evening after people dishes and place the bowls in a stainless steel sink with hot water and about a tbs of white vinegar. Wash them with a dog-only sponge, rinse, and dry with a dog-only small towel. Other than daily/hourly wiping of the counter tops, sinks, laundry, etc, twice a week everything gets Vim-ed. Dog beds and blankets get washed weekly.
I'm a clean-freak too, so understand your concerns.