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.

You do not need to worry about HIV transmission in this scenario, as the virus does not pass through intact fabric like underwear. Naked frottage (grinding without penetration) carries an extremely low to negligible risk for HIV. However, if you're anxious, you can do an **HIV test (4th generation)** after 4 weeks for peace of mind and rule out other STDs with a routine panel. Rest assured, your described exposure is highly unlikely to result in any infection.