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

If the semen is thick and moist there may be active sperm within the material & direct/intentional insertion inside the genitals might (rarely) cause pregnancy. Sperm are fragile outside their favored environment & die quickly when exposed to drying. The situation you describe does not suggest pregnancy is possible.

That would be very unlikely to occur