I'm happy to hear you don't have herpes, though eczema can be plenty painful at times.
Condoms reduce the risk significantly because they reduce the mucous membranes exposed, especially for men.
It definitely needs friction, not just a simple touch.
The skin on the inner thighs and scrotum is generally too thick for the virus to penetrate. If the skin is intact, you should be fine. That's why wearing a condom for a one-time encounter gives men about a 1 in 10,000 chance of getting herpes.
Don't have sex with anyone who has any visible sores, whether or not you use a condom. If it's herpes, that means the viral load is really high, and should the condom slip, you could be exposed.