There is no risk for any STDs.
Monkeypox is not considered an STD, but is spread through sexual activity because of close contact. The incubation period - time from infection to symptoms - is 1-2 weeks, so whatever symptoms you have now are not from this particular encounter if it's monkeypox. If it is that, you will likely get more sores/lesions.
STDs are transmitted by unprotected oral, vaginal, or anal sex. Syphilis, HPV and herpes are transmitted by direct, unclothed skin to skin contact of the mouth, genitals and anal areas. This is mouth to mouth (kissing), mouth to genitals, genitals to genitals or anus (heavy grinding or rubbing).
Contact on your thighs won't transmit it, as the skin is too thick.
You continue to have these encounters and worrying frantically after. Perhaps you should consider why you continue to have them when they stress you out so much.