I'm not an expert here auntijessi will help you out more Monday. To calm things down, herpes is not transmitted through fabric. It is transmitted skin to skin. As far your encounter, I really doubt it herpes! You have this going on for 3 weeks and also in different locations. Go get seen, it maybe just a rash and it could be easily treated. I know we tend to freak out but for peace of mind go get seen asap. Also while you're there test yourself for any std.
I totally agree with roefa. You aren't autoinoculating yourself through sheets, in the shower, etc. The skin on your hands, chest, arms, etc., are too thick to infect with herpes, so what you are seeing isn't likely to be herpes. If it were this easy to autoinoculate, we'd all have herpes all over our bodies.
If you got herpes from her grinding on you, you'd have genital herpes. This wouldn't cause tingling on your chest and face. Herpes infects nerve groups. Genital herpes infects the sacral ganglia, which affects the boxer shorts area, meaning you'd only get symptoms in that area. While you might feel tired, get a headache, etc., that's from your body fighting a new infection. You wouldn't feel tingles and such anywhere else.
If a child has genital herpes, it means the child has endured inappropriate sexual contact with an adult. As roefa said, the only way to transmit hsv is through direct skin to skin contact - mouth to genital, genital to genital, anal to genital.
I've had hsv2 for 15+ years. I never had any concerns about my nieces and nephews sharing my bed when they were younger.
I don't know what you have - a fungal infection maybe, but you need to be seen. It's been 3 weeks, and that's long enough. A fungal infection would be super easy to spread to a household member. You do yourself a disservice when you try to self-diagnose and ignore other possibilities. Often, you suffer longer than necessary.