You always wore underwear so you never penetrated. Since you have a wife, I'm not sure why you think you can penetrate with underwear on.
Only sex risk is unprotected penetrating vaginal or anal so you had no risk. Time to move on from hiv fears and stop worrying that a rash means hiv.
At this point in time, I would avoid encounters with people you don't live with because of the likely 100% risk of you contracting or spreading Covid (if one of you two was positive) in which case you might also spread it to your innocent wife or loved ones.
Since neither of you were social distancing, I hope you check out this forum for information on why you should be doing that 100% of the time today. https://
www.medhelp.org/forums/Coronavirus/show/2203
Your health is your wealth, so I hope you remain healthy to be able to enjoy life. Many infected Covid patients including young people are under the misunderstanding that they have zero risk from Covid, but will discover that not all of them will be spared permanent lung and related heart issues in which case they have lost that wealth forever.