There is no absolute answer to your question since there is so much unknown at this time. It is possible to have had an
HPV positive lesion, and later to be
HPV negative, I know since that is how I am. So the best guess is that the immune system can find some way to deal with the virus and eliminate it, or it goes dormant in a manner that is undetectable. If it can be transmitted when it is dormant (if this even happens) is unknown. Just remember that lots of people become HPV16 positive and do not develope a malignancy.