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I'm really worried about a situation that happened about a week ago. I had an encounter with a commercial sex worker where I was grinding, rubbing, and poking her nude vagina for around two minutes. I had my underwear on, and there was a release of precum, while she was completely naked. She mentioned that she experienced a leakage of fluids. I'm concerned about the possibility of her fluids getting through my underwear and reaching my urethra. Is there a risk of HIV or any STDs being transmitted through this kind of contact, even with my underwear on? Should I consider getting tested, or am I overthinking? I've read some things online saying it might be nothing, but I would really appreciate your advice.