You've asked variations of this question several times before -
https://
www.medhelp.org/posts/Herpes/HSV-2-Protected-Vaginal-Intercourse/show/3068653
The answer hasn't changed. Chances are very low. Brief contact - 10 seconds - isn't likely to transmit anything.
I'm not sure why you continue to have sex with people who's status you don't know. Clearly, it makes you very anxious.
Also to add, her vagina was touching my penis with no protection for 10 seconds whilst her being stationary - there was no rubbing or movement.
I also didn’t see any open sores or blisters on her vagina.
After the encounter was over my penis became flaccid while the condom was still on, and the condom was rubbing against my scrotum - would this add any risk?