to NGA
I surmised from your question that you had concerns about larkspur so I looked it up. Oh my, I never knew it was poisonous! I say that with alarm, because I grow masses of larkspur every year (well, it comes up on its own) all around my garden, including by my mint and often intermingled with other herbs, including sage, dill and parsley, all of which I ingest.
Can't recall ever inadvertently picking larkspur with the herbs and I'd remove it if I did, and I've never experienced any of the physical symptom listed. Nor have I ever had skin irritation, and I can guarantee you I've handled all parts of the plant many times.
So I'm baffled. Certainly not disputing all the medical information, just telling you my experience. I think that washing your mint should be adequate for safety, after all, it's ingestion of plant parts that is poisonous. I'm very interested to hear what others say.