No, you won't get herpes from a wash cloth. The sex act itself was the risk, not using a wash cloth.
Protected sex does help lower the risk of hsv2 for you but if she had active lesions, not so much. Should you get any obvious genital lesions within the next 2 weeks, go to be seen within 48 hours of their appearance for a lesion culture and typing. If you don't get symptoms and need peace of mind, follow up with a type specific herpes igg blood test 3 months from now.
grace