Of course nobody can say you didn't catch herpes from any single sexual encounter. However, your symptoms are not those of herpes. If you caught it, you have an asymptomatic HSV infection plus something else--most likely anxiety, nothing more. For even more security, ask your partner if she has genital herpes and if she had any genital sores at the time of your adventures with her. If not, your risks are even lower. And yes, public lice shampoos can be irritating, but using the same towel probably wouldn't make any difference.
In other words, your doctor was exactly right. Be on the lookout for genital blisters or sores, but if you don't get them, forget herpes.
Good luck-- HHH, MD