I think the property value in the clitoris and outer lips is too high for hiv to afford a good 'living" there. No no no, HIV is not alive its a virus its either activated or deactivated. To answer your question, no you need penetration, hiv needs the proper host in order to activate itself. Even if you were to rub your genitals with someone else you would not be at risk, you may catch herpes, but you wont be at risk for HIV.
Also does HIV only survive in the inner vigina or does it live on places like the clitoris and outer lips? If you were not wearing a condom and rubbed you penis against either of these would you be at risk?
The CDC doesnt even has a stimated risk per act for it, so its No risk