If during your sexual intercourse you touched any of the lesions that syphilis causes on the sking, you were exposed to this infection, even wearing condom.
As it's not always good to follow the symptoms, and you are in a relationship, it would be interesting to test for syphilis, and I would recommend you to test also for herpes, which can be transmitted through the contact skin to skin. If your sexual intercourse was more than 3 months ago, both tests will be accurate.