Our members have advised you to their fullest at this point. We wish you the best.
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So first, I need to say that we are a safe and supportive site, and we welcome posts from everyone. I know this has been addressed, but julybaby was correct in her assessment, and the beauty of the internet is that you can take what you want and leave the rest. GuitarRox isn't any more of an expert than julybaby is.
In any case, your chances of getting anything from a one-time protected encounter are very slim, and the things you can get from that wouldn't give you the symptoms you are experiencing. A brief touch of genitals isn't going to transmit an STD, either. They either require penetration - which offers enough time for things to enter your urethra - or significant grinding and rubbing, which allows enough friction for things to enter the skin. Neither of those happened.
You can get herpes without symptoms, but you have symptoms of something, and herpes doesn't cause testicular pain. Neither would syphilis.
Herpes sores typically appear within 2-12 days. Syphilis sores show up, on average, at 3 weeks.
You can test for syphilis now, and it would be conclusive. I would strongly urge you NOT to test for herpes. There are false positives for that, and I don't think your anxiety could handle that right now. It takes weeks, expensive testing and a lot of stress to unravel that. If you had symptoms of it, my answer would be different.
I haven't reviewed your other posts, but if you haven't seen a urologist for your testicular pain, you absolutely should.
Condom sex is generally safe sex. Incidence of other skin to skin std's such as what you mention are a low possibility. Here's a health page on the subject: https://www.cdc.gov/condomeffectiveness/docs/Condoms_and_STDS.pdf Your using a condom drastically cut down on any risk of std's and unless you develop a symptom, I would not be the least worried.
No, if you wore a condom correctly then you are fine. Condoms are extremely effective in protecting you from viral and bacterial infection. But skin to skin type of stis can still be caught.