Yes. While direct genital contact is the highest probability way to spread it, any skin-skin, skin-mucosa, skin-object-skin contact can potentially spread it. Consider how much you trust others to wash their hands after using the restroom. Low probability, but possible.

You’ve got a low probability of getting polio, but there’s no reason not to be vaccinated if you can.

Even if you already have a strain, there are multiple types. In fact, people who got a vaccine early on, should consider an updated shot for more complete protection.