Yes, there is a home screening test available, instead of visiting a doctor to do the HPV test.
In fact, the way HPV tests are done is similar to pap smear testing.
For the home test kit, there will be a device to insert into your vagina to collect the secretion and then seal it and return to the clinic. Yes, there is such a device that is available in Singapore.
Essentially, depending on which company manufactures it and depending on how they deliver the service, it can be a mailbag service or sending back to a clinic to check the results.