You can get herpes, HPV and syphilis from frottage, though it really depends on how heavy the grinding was, and if there was genital to genital/anus rubbing.
If you rubbed off on their hip, for example, or thigh, there's no risk.
It usually takes the kind of friction involved with intercourse to transmit.
The saliva probably didn't add anything to the risk - saliva as lube isn't thought to be an efficient way of transmitting anything.
From the unprotected oral, you can get gonorrhea, chlamydia, syphilis and genital hsv1 from receiving. You can get oral gonorrhea and chlamydia from giving.
If you already have oral hsv1, I wouldn't worry about genital hsv1.
You can test for gonorrhea and chlamydia, orally and genitally, at about a week. Make sure they do oral swabs, too.
You can test for syphilis at 6 weeks.
There is no test for HPV in men.
You can test for herpes at 6 weeks and again at 12 weeks, but there are false positives on the hsv2 test, and unraveling that can be hellish, so unless you get symptoms, I wouldn't worry about that. If you get symptoms, get into a doctor and get it cultured within 48 hours. Make sure they do a type specific culture. That's the best way to test.