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I just wash mine with anti-bacterial soap and use a toy cleaner.
Remember that you need to follow certain procedures (contact time, etc) for antibacterial soap or else it is no more effective than regular soap.
New toys are not generally sterile in the true sense of the word (the way medical devices are sterile), but generally other than trace materials (manufacturing residues, dust, etc) they're pretty clean. I don't worry about antibacterial but I do wash with soap and water. Keep in mind that your immune system is there for a reason and unless the toy is used or you're immune-compromised the stuff left after a soap and water wash is highly unlikely to do any harm. Remember, toilet paper isn't sterile either, nor are fingers or tongues or 95+% of rubber gloves or [...] - they're just reasonably clean.
If you do have a compromised immune system you should probably discuss toy care and use with your doctor.