You never had any risk. Your genitals never came into contact with her genitals. The skin-to-skin contact we refer to with herpes, HPV and other STDs means genital skin-to-skin contact, not other skin. Other skin, like the skin on your thigh and chest, are too thick for the virus to penetrate.
Genital herpes infects nerve groups. Genital herpes infects the sacral ganglia, so if you get genital herpes, the entire genital area, or "boxer short" area is included. You wouldn't get symptoms anywhere but your boxer short area. Symptoms on your neck, arm, wrist, etc., would be from something else.
Again though - you had no risk here. I'm just explaining things you may have misunderstood from your reading.
You wouldn't autoinoculate yourself by thighs rubbing together. Autoinoculation means that you touched an outbreak in one area, then infected another part of your body and infected that area. For example, if you had a new infection of genital herpes, and touched an outbreak, then touched your eye, you could infect your eye. The only places you can infect are mucous membranes - your genitals, your mouth, your eyes.
I see no reason for you to test for anything. If you think you have folliculitis, and it's recurring, you might want to speak to your doctor about it to see if you need treatment for it, but that won't be caused from this encounter.
Best of luck to you.