The chance of syphilis from an exposure like you describe is virtually zero. Syphilis currently is a rare disease in the US, with only around 20,000 new cases per year in the entire country -- and 70% of those are in gay men, with most of the rest in a few limited geographic areas. And condoms are highly protective against syphilis (and other STDs) and although syphilis can be transmitted by oral sex, it is uncommon. A sore on a partner's leg is not likely to be due to syphilis, even if it really looked like a chancre (which I tend to doubt).
As for other STDs, there is no realistic risk from the condom-protected vaginal exposure. There is a small risk of some STDs by unprotected oral sex, but all of them would cause symptoms of abnormal discharge from the penis or sores on the skin of the penis. Without those symptoms, you can be sure you weren't infected.
So the risk was virtually zero and I'm sure you weren't infected with anything. But since you're worried, visit your local STD clinic or other health care provider for STD testing, including a syphilis blood test. You can expect the results to be negative.
Regards-- HHH, MD