Thank you curfew. That's the response I needed to hear. I know it sounds silly but when you're full of regret and anxiety stds do sound like they have super powers. Thank you!
Thank you for that anxious. So no matter how hard my penis pressed on her vagina as long as she kept her pants on (and panties on underneath) that was a sufficient barrier? Thank you for your help with this.
Your situation involves contact with an object in air (her body) which is not a risk for hiv. No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did. Analysis of large numbers of infected people has proven that people don't get hiv in the way you are worried is a risk.
HIV is effectively instantly dead in air so the worst that could happen is dead virus rubbed you, and that which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
She is the last person I would kiss though, because she catches every flu and virus in town from the guys who kissed ahead of you so whenever she is infected she passes that on.