I had a risky sexual encounter (my first ever i was a virgin before this) with a stranger who has a lot of sexual partners on Dec 29th.  

On january 4th I noticed 3 small lesions on the underside of my penis on the shaft right below the head. 

The encounter: basically there were a couple (2-3) of bare skin to skin taps of my penis and her vagina (no rubbing) 

And then the actual intercourse was protected with a condom. Whole thing lasted prob 5 min.

These lesions remained exactly the same for 4 months. They did cause itchiness/irritation at times sometimes i felt like the inside of my penis was itchy as well as the skin. All STD tests came out negative. 

Last week i went to a dermatologist who took one look at them and said theyre HPV genital warts and did cyrotherapy. 

Now im wondering if i was possibly misdiagnosed. I wish they did a biopsy.

I went to a urologist for a second opinion who said he cant say for sure what the lesions were and based off my story he doesnt think its hpv. He said he couldnt really do a biopsy cuz theyres not much left and he would take a lot of penile skin

Now i dont know what to do. Am i to live my life as though these are genital warts? 

Starting with the question in the title or your question, the answer is no:  Visible warts cannot appear sooner than around 6 weeks after exposure, and usually it's longer -- 2 months or more, sometimes a year or more.

Now reading the rest:  A brief "tap" of your penis with a partner's genital area is not likely to transmit HPV. If there was any risk from this event, it was higher from the vaginal sex itself (even with condom) than from the minor contact beforehand. From your dermatologist's diagnosis, the "3 small lesions" on your penile skin probably were warts; if so, they were there before the sexual exposure described. Almost all dermatologists nearly always can accurately diagnose genital warts by visual examination, so most likely your dermatologist was correct. In any case, I also agree biopsy might not be helpful, the the lesions gone (or mostly gone?) following cryotherapy. I'm not surprised a urologist now cannot judge whether they were warts or not. The main reason for biopsy is not to confirm a diagnosis of genital warts, but in some cases to make sure they aren't pre-cancerous (if they appear atypical or unusual).

Your closing lines ("I don't know what to do" and how to "live your life") reveal more concern than genital warts should cause. They're no big deal once gone. Getting and having genital HPV, with or without visible warts, is a normal, expected, unavoidable fact of being sexually active. At this point, you needn't do anything, and that includes saying anything to your current or past sex partners:  no need to tell them anything. Just be on the lookout in case warts reappear, which they sometimes do. In that event, another round of treatment probably will take care of the problem once and for all. 

I hope these comments are helpful. Let me know if anything isn't clear.

HHH, MD

Your response gave me a huge sigh of relief!

This encounter was my very first and only sexual experience ever of any kind with anyone. 

And I am 100% certain that the lesions were not there before this encounter.

So, I do believe based off what you said of visible warts not appearing before at least 6 weeks, that these lesions are in fact not genital warts at all! 

I think my dermatologist did make a misdiagnosis, and it couldve been something else. This was my first time with a latex lubricated condom and during the encounter there was oil used on my penis and the area where the lesions appeared did rub against a towel with a lot of friction so maybe any of those things caused it. 

I was also vaccinated with 2 doses of gardasil 9 at 17 and 18 years old.

Based off everything, I dont believe what i had was HPV related. Thank you so much for your time and expertise doctor!

That completes the two follow-up exchanges included with each question and so ends this thread. Best wishes and stay safe.