Herpes can be transmitted by contact skin to skin even if blisters are not present. Even if sex is protected, condoms don't protect at 100% from this STD as there are areas around the genitals that are not covered by them. This situation is also applicable when we talk about syphilis and HPV.
You can test after 3 months if you want to know if you are infected or not.
All the best.
I also forgot to mention we briefly grinded as well with our underwear on. Not sure if anything could transmit this way