Nope, no risk at all.
Mutual masturbation - using hands on each other - never transmits STDs. I'll include some links at the end that may help.
Using saliva as lube isn't a risk, either. Even if she had any oral STDs, they either reside in the throat, so there wouldn't be enough bacteria to transmit anything in saliva unless your penis was in her throat.
STDs are transmitted by oral, vaginal or anal sex - either grinding with clothes off, or penetration. (Some are transmitted by direct skin to skin - mouth to genitals, genital to genital, genital to anal, and others require unprotected penetration. You had neither.)
Here are some posts from our experts (when we had them) that may help -
https://
www.medhelp.org/posts/STDs/Nervous-about-mutual-masturbation/show/2183476
https://
www.medhelp.org/posts/STDs/Mutual-Masturbation-STD/show/1968429
https://
www.medhelp.org/posts/STDs/mutual-masturbation-sti/show/1858544
https://
www.medhelp.org/posts/STDs/Understanding-the-risks-of-mutual-fingering/show/1516796
https://
www.medhelp.org/posts/HIV---Prevention/Vaginal-fluid-on-hand-touched-inside-of-condom-and-head-of-penis/show/1119533 - read this thread thoroughly. There is an excellent explanation about why certain activities are not risks, and why others are.