No, and the advice can't change from previously, for the same type of encounter. https://
www.medhelp.org/posts/HIV-Prevention/Towel-with-semen-and-hiv-/show/3062049#post_14541239
No, you can not get hiv or an std from bed linens. They are sexually transmitted. You only get HIV from having unprotected vaginal or anal sex or sharing IV drug needles.