While it's generally unlikely that licking from a bearded dragon would cause any serious issues, there are some important considerations. Bearded dragons can carry bacteria like Salmonella, which can potentially lead to illness if transmitted to humans.
Since you brushed your teeth and rinsed your mouth out with water, you're taking good precautionary measures. Keep an eye on how you're feeling in the coming days. If you notice any unusual symptoms, such as gastrointestinal issues, it's a good idea to consult a healthcare professional. In the future, try to avoid direct contact with your mouth and reptiles to minimize any risk.