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Brief penetration with underwear on

Hello there,
Could you guys evaluate my risk? I am a gay male and had recently had mildly penetrative sex (I asked him after and he said he felt it went in for a brief period of time). So this is what happened. He had his underwear on and I dry humped him. At a certain point of that anal frottage, I penetrated him. His underwear was on the entire time and I do see some spots that were stained with precum. He is very promiscuous and said he had not checked for HIV for quite some time and he did state the fact that he doesn't like to use condoms and prefer not to most of the time. Should I start on PEP?
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Avatar universal
He had underwear on and you somehow penetrated him? Hmm.... Nothing you describe is a risk
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I understood
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Avatar universal
Sorry I wasn't detailed enough, he had his underwear on, and I don't,
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He had underwear on, I dont, does it change anything?
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You are fine.  No risk.  You had underwear on
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So I would assume that I am not exposed? Correct?
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I don't see it possible to penetrate like that
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I would assume so too, but he said he felt that I penetrated him. So am I at risk or no?
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Avatar universal
How can you penetrate him if he had his underwear on?
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Avatar universal
Also his underwear was dry for the most part.
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