I personally woudnt be worried nor test following this event.
So I have nothing to worry about then? No testing whatsoever is needed and I should move on with my life and just be more careful in the future?
Im not sure how your penis could enter her if you both have underwear on...
Firstly she would need to have an STI which u dont know and statistically it smuch more likely she didnt than did have an STI. Single exposures rarely lead to infection and this wasnt really an exposure. The risk is virtual non existent. No one could say its 0 but it really is so low as not to worry about it.
There maybe was some slight penetration into her vagina (I'm not sure), but still with our underwear on. Could this put me at risk for an std or hiv?
Thanks
No Risk, no need for testing.