Can You Get HIV From Rubbing Against Someone

Hi Dr.Robert you are the tipe of person who become a missinary cause you give your time for heip others people;thanks god there still somes angels on earth; well DR Robert Iam a fire fighter I have 25 years working night time day time shif in puerto...

...though i washed it away shortly.  i suspect i left some fluid somewhere on her underwear.  then later put on my underwear and rubbed her vaginal area.  The problem is that I found my underwear was so thin, almost wore probably due to many times...
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...visiting him I went to her apartment.  One thing led to another and we ended up having sex.  The sex mostly consisted of her rubbing her clit against mine.  we were both real wet and there was no protection used.  I guess my question is: Did I put...
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...Hi there, Been with my new gf for about 2 mos now.  Last night we didnt have sex but she rubbed her vagina on my scrotum and on the shaft a little bit.  I didn't insert it.  My didn't have sex because we didn't have a condom. 
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...a way).  He would then put on a condom before intercourse and ejaculation.  How likely is it that I could get HIV from precum rubbing around and in the vaginal area without actually inserting it?  Thanks so much in advance for your help. 
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