A bidet attachment to my toilet was a game changer for this. On its maximum pressure with a bit of relaxation I can rinse out my colon all in the toilet so there’s no extra mess.

As for condoms on the toys, I tried that and it does make cleanup easier but I had issues with the toys shooting out of the condoms. You would have to get unlubricated ones to avoid that.

As for the actual cleaning, if your toys are made of hard plastic or actually platinum cured silicone you can safely use rubbing alcohol which is great for both cleaning fast as well as disinfecting.