I visited a strip club yesterday, shortly after shaving my lower abdomen in the shower. I received a lap dance where she was on top of me grinding back and forth. For brief moments my shirt lifted up and exposed my abdomen, my concern is that she rubbed her genitals on me posing a risk for STDs(I will admit this is a what-if). 

I woke up with several razor bumps, which I know is unrelated. It worries me because it means I had "broken skin". I know it is important to mention that she had a lace once piece on, so her vagina was covered(I know that if there is clothing then "direct contact" is not possible). I would love some advice! I keep asking myself what if she had genital warts on her thighs closer to her genitals or if me shaving some how made it so much more possible.

Having now read your question, you were not at risk for HPV or any other STD. Although some non-professional online sources may speak of broken skin as increasing the risk of HIV or other STDs, no professional or professionally moderated site is likely to do so. There is no known increased risk on account of shaving or other sorts of broken skin (and at least one of your other threads included reassuring advice about nick and cuts of the hands). You needn't be concerned and should not be tested for anything, assuming this is your only potential exposure recently.

I hope this information is helpful. Let me know if anything isn't clear.

HHH, MD