Hey chick, im one of those mums who lets their kids touch and eat anything (well excpet poo!)
DD1 was very well known for her love of cat biscuits! pmsl. i would randomly through the day wipe her hands but was never like OMG she touched the dog, or dirt or anything. busted her one day eating a leaf..was very cute!
the only thing i dont let our dogs do is lick faces, thats a no go here.
Do what u feel comfortable doing, if u want to wipe her hands after touching things, then do it! she's your baby hun and even if u do this, she will build an immune system