Welcome to the Forum and thanks for your question.  I'll be happy to provide you with some information.  You are at NO risk whatsoever from the events that you describe.  There are no STIs, including HIV which are transmitted through clothing, even when that clothing might be wet or particularly thin.  This is the case no matter how long your partner might have ground on you.   STI organisms quickly become non-infectious on exposure to the environment and "stick" to clothing fibers rather than passing through them. Thus there is no need for concern about STIs and no medical reason for testing of any sort.   Similarly, there is no reason to abstain from normal sexual contact with your regular partners.

As for the origins of your symptoms, bladder pressure and urinary urgency are not typical STI symptoms but are common symptoms of anxiety.  The tingling in your extremities you have experienced may likewise reflect the result of rapid breathing that can accompany anxiety. 

I hope you find my comments helpful.  Please do not worry about STIs from this event.  EWH

You have already received three responses and Forum guidelines indicate that threads should be closed at that time.  I would add however that the additional symptoms you describe are more consistent with anxiety than any STI.  No change in my assessment.

There will be no further responses and this thread will be closed in a few hours.  EWH