They call them STDs because you have to have sex to transmit them. What you did doesn't count. Your family doctor is correct. Lap dances and hand-genital contact pose no risk for any STD. So no, you should not be worried. No realistic chance of any infection of any kind.
Regards-- HHH, MD
All the best and please keep up this important work. There is a ton of misinformation out there on other websites. It's a great comfort to have some straight forward common sense answers to these questions from people like you.