The ethical issues can make for tough questions. I know I always have a tough time figureing them out. This link might be helpful to you though.
http://www.medhelp.org/posts/STDs/HPV-questions-from-a-male-who-has-been-exposed-and-may-be-a-carrier/show/1020795
If you had unprotected sex with her while she has the virus, there is a good chance that you were infected as well, unless you had this infection in the past, in which case you are likely immune.
This strain of HPV does seem to take longer to clear than others, but it still clears quickly for most people.
I am not a doctor, nor an expert on HPV. I think it would be a good idea to inform immediate partners of a possible risk, but it becomes difficult to determine the extent of disclosure when you don't know if you are even infected. Furthermore,there is a level of risk will all partners, almost all of whom are unaware of their HPV status. Still, disclosure seems like the proper thing to do, at least in the immediate future.
I wouldn't be too worried about penile cancer. It is really rare in the West.