If a woman touches any surface or object that has semen on it and then touches her vagina in the restroom afterwards, can she pregnant from that?

Sperm die quickly in this circumstance: you couldn't become pregnant from semen on an object or surface even if you tried. There certainly is zero risk from this sort of thing; nobody ever becomes pregnant in this manner. (Common sense tells you it's not possible: if this could happen, why aren't there large numbers of pregnancies in women who never had sex?)