Welcome to the Forum. The exposure you describe is zero risk. Condom protected sex is safe sex and that some of your partner's genital secretion might have gotten on your clothing does not change that. HIV is not spread from inanimate objects to humans, even if the clothing gets soaked with genital secretions, as you point out, no one has EVER gotten HIV through clothing. You have no risk from this exposure and do not need testing from a medical perspective for this exposure. If you choose to get tested for your own peace of mind, please wait until at least 6 weeks after your exposure to get tested so that the negative test result that I am confident you will get will not be marred by any theoretical concerns that you were tested too soon. Hope this helps. Take Care. EWH