There are so many ways to answer this.
Firs tof all, the only precaution someone can take to not get HPV is to have no physical (genital) skin to skin contact; otherwise there is a good chance of transmitting HPV.
There are over 30 (out of more than 100) strains of HPV that affect the genitals. Some of those are low risk and can cause genital warts and some of those are high risk which could lead to cellular changes that (worst case) could lead to cancer. It is possible to have low risk and high risk HPV at one time. It is also possible to have more than one strain of low risk and/or high risk HPV.
It is unlikely your doctor actually tested for which strain(s) of HPV you had/have. That means that it isn't likely that you (or your doctor) know what strain(s) of HPV you have/had. It is possible for the body to fight the negative effects of HPV and have it reoccur later on. It is also possible for that strain to no longer cause a problem, but for another strain to cause the same type of problems.
There is isn't much way of knowing, not with the level of technology doctors currently (and economically) have. .