The chances from a one-time encounter are slim, and given that the condom was off so briefly, it's not likely at all, assuming you had no herpes symptoms at the time.
Having your clothes on makes no difference, really, except maybe underwear. I'm not sure if that's something you do for protection, or that's just how things played out, but if it's something you do for protection, please know that you aren't infectious from your entire body. You are only infectious from your genital area (including the anal area).
Does she know you have herpes? Have you discussed the different options for reducing transmission (meds, condoms, or both)? If you haven't, and this is a regular partner, you should.
How were you diagnosed with herpes?
How long do these itchy feelings last? If they are just random itchy feelings, it's not likely to be herpes.
Please note that you are not a walking infectious agent. You are only infectious from your genital area (penis, testicles, anal area, etc.) The rest of your body can touch her body and not transmit herpes to her. You really need to read the herpes handbook - https://westoverheights.com/wp-content/uploads/2014/08/Updated-Herpes-Book.pdf It's free, and loaded with great info.