As sometimes happens, Dr. Handsfield and I started answering your questions at the same time. Thus you get the same answer using different words twice. You are not at risk.
The exposure that you describe is extraordinarily low risk and your chances of getting an STD from it are close to zero, if not zero. I suppose that here may be some theoretical risk for acquisition of herpes or syphilis is she had a lesion and your penis contacted it but that sort of transmission has never been reported so, despite the theoretical concern, I am confident that you are not at risk.
In answer to your other questions, if you had gotten an STD any symptoms that you might develop would be expected to appear long before six weeks had passed.
Finally, in answer to your last question, there is no form or urethral discharge due to STD that would be confused with urine.
Bottom line, you are not at risk and do not need testing. Time for you to move on beyond this experience.
Hope this helps you do so. EWH
You have been asking anxiety-generated questions about low to zero risk HIV/STD exposures for a couple of years -- I count 4 previous threads in this or the HIV prevention forum plus 10-12 more in the various community forums. In every instance, you were clearly informed that you were at little or no risk of infection. You are free to keep spending your money to ask questions on these forums (a maximum of twice every 6 months, per MedHelp policy) to be given the same answers once again. But it would be better to learn to accept the common, universally undertood fact that if you don't have unprotected insertive sex (penis into vagina, rectum, or mouth), there is no risk of sexual transmission of HIV an little if any measurable risk of other STDs. Beyond that, you can return to your GUM clinic for periodic testing.
By the way, your penis "slipped" between the dancer's legs? By accident?? Ha!
1,2) No measurable risk for anything, even though many STDs occur without symptoms.
3) Abnormal penile discharge is very obviously different then urine. There is no mistaking the two.
Please do think about your apparently off-the-map anxieties about STDs and HIV. You should consider stopping all exposures and/or getting counseling about these issues. I suggest it out of compassion, not criticism.
HHH, MD