Hsv2 can be transmitted without blisters, through asymptomatic viral shedding.
https://westoverheights.com/herpes/the-updated-herpes-handbook/
https://www.cdc.gov/std/herpes/stdfact-herpes-detailed.htm
However, it doesn't sound as if you are sure there was actual contact. If there wasn't, you aren't at risk. A simple touch of skin won't transmit it either.
Your genital skin would have to come into contact with her genital skin and there would have to be friction in order to transmit. It doesn't sound like this happened? In any case,