They'll be fine if there's no damage, i.e. cracking paint, bits falling off, etc., and as long as your child isn't putting anything in their mouth to lick/chew, etc.
Just visually inspect the toys - if they still look in good condition, no signs of wear/damage, then there's nothing to worry about.
Even if there is any damage/wear, what's done is done and you can't turn back time.
For safety's sake, either remove the items or if you can't do that, ensure that your child is supervised when playing with them, to check they're not licking/biting/sucking any part of them, and do regular visual checks for damage etc. Also good practice to get the child to wash hands regularly during play or afterwards and certainly before eating/snacking.
It's bits coming off that are the danger signs, i.e. flakes of paint or other materials that can be ingested if the child is sucking/biting or even just getting "bits" on their fingers and then eating without washing their hands.