The risk here is very low.
Unless your penis went inside her vagina, you have no risk for chlamydia, gonorrhea (the same thing as Gonocoque), HIV, any hepatitis virus, trich, or mycoplasma.
Depending on how long and vigorous the rubbing of her vagina on your penis was, there may be a slight risk for syphilis, herpes and HPV.
If it was brief rubbing without a lot of friction, it's very low risk and not something to worry over.
If it was longer with a lot of friction, transmission is possible.
You can get tested for syphilis at 6 weeks, herpes at 12 weeks with a type specific IgG blood test, and there is no test for HPV for men.
A note - if you don't get symptoms for herpes, which are blisters, I wouldn't worry about testing. There are a number of false positives on the hsv2 test, and working through that can take a lot of time and a lot of money. If you're in Germany, it would be even more complicated, since the confirmation test you'd need is only done in the US.