There is absolutely no risk for any STD here.
STDs don't go through clothing, and nothing is transmitted by saliva touching your lip, even oral herpes. Breasts don't transmit STDs - even real ones - so you're fine.
Oral, vaginal and anal sex transmits STDs. Unclothed, direct skin to skin contact of the genitals and genitals to the anus can also transmit it if there is enough friction - think heavy rubbing or grinding. Kissing can transmit oral herpes, but it needs to be more than a quick kiss.
The only things you were at risk for here are things like covid, a cold, the flu, etc. You are not at risk for any STD.