I also have decades of muscle memory with using disposable gloves in a lab context, but that's not so useful when you don't have 100 gloves per day to burn through. But even so, I'm always conscious of what I've touched when, and with what.
https://wwwnc.cdc.gov/eid/article/26/7/20-0885_article
Like you say, it's a game of percentages. The only way to completely eliminate the possibility of infection to yourself personally is to stay inside and live off whatever you've managed to stock up on for supplies. Not exactly practical and likely not sustainable for long.
Imagine being able to "see" the simulated virus in the air and on surfaces. See it spread due to airflow and gravity, see it diminish over time due to sunlight, surface cleaning, etc.
In reality, the only way to be safe is to always wash all your clothing every time you go out, but with a dog, I find that pretty hard.
Quarantining the exposed clothes is a better method IMHO, just setup a FIFO of quarantine bins. Add sunlight if possible. I've been using 2-3 days personally, depending on what it is.
Like... with your hand? Not in a glove that you throw out immediately? I just can't fathom touching a door handle.
I saw someone just open a door at a public place the other day and it was utterly baffling to see.