No, ARS symptoms won't appear at 6 months post-exposure.
Even if the vaginal fluid could 'climb' onto your penis, it would've been exposed to the air first, which made it uninfectious.
My concern is the incident of exteded rubbing of penis on vagina without protection. Also, there was undoubetdly vaginal fluid on my penis from the rubbing episode which was then covered by the condom trapping the wet vaginal fluid inside. The friction of the following intercourse could then have rubbed potential hiv into skin or opening.
Please let me know so I can put all this behind me.
you had no risk from what you have described.
transmission requires penetration...the "penetration" that you had was PROTECTED.