You can't get HIV through clothing. She was wearing panties. You did NOT penetrate her through panties. That's not even a possibility.
You have been asking about strip club encounters for several years now. If you are THIS worried after every time you go, maybe it's not the best activity for you.
Anyway, the risks for HIV have not changed since the first time you asked: https://
www.medhelp.org/posts/HIV-Prevention/DEEPLY-WORRIED-HIV/show/3065540