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HIV is unable to reproduce outside its living host (unlike many bacteria or fungi, which may do so under suitable conditions), except under laboratory conditions; therefore, it does not spread or maintain infectiousness outside its host.
HIV is transmitted by;
Unprotected penetrative anal and/or vaginal sex
Sharing works with other IV drug users
Mother to child
Vaginal secretion from woman arousal don't contain enough HIV concentration to infect and are safe like saliva. Those which contain HIV, are near uterus, deep inside vagina, or menstrual discharge which contain blood.
The actions you have described are not a risk for hiv.
USE CONDOMS for penetrative sex and you will remain hiv negative!!!!