You should re-read my reply.
Hi, thanks for your prompt answer. Yes, indeed she pulled my glans into the outer part of her vagina... I felt like I was about to penetrate her and I pulled out as I didn´t want to have unprotected sex. I am worried now because of that brief moment and about her having no concerns about having unprotected sex. I'll reach her and ask about her status. Just for reassurance, would you describe this encounter as no risk from an HIV perspective? Thanks for your help!
It sounds like you didn't actually penetrate her vagina until after you were wearing a condom. Further, HIV transmission from female to male is HIGHLY unlikely and rarely happens. And, of course that is with full on unprotected sex, not unprotected frottage, or rubbing like you describe. From an HIV perspective, this encounter is NO risk. However, you may have been exposed to other more common STIs such as Chlamydia, Gonorrhea, Herpes, and VERY unlikely, syphilis. If you can still contact your partner, I would reach out to her first to see if she is willing to share her status. If that is not possible, you can test for Chlamydia and Gonorrhea in 7 days, however Herpes and Syphilis will take some more time, around 6-12 weeks, unless you see symptoms in the next couple of weeks.