The activities you describe were no risk for acquistion of HIV and other STIs.  Statistically it is unlikely that your dancer/partner had an STI- typically persons working in the sex industry are cautious and test regularly.  Your risk for an STI would probably be  higher if you had picked up another customer at the bar.  Further, STIs are not transmitted through material such as underwear, even if the underwear is wet with genital secretions

As a generalization- no penetration, no risk.  Receipt of masturbation  (including frottage), even when saliva is used as a lubricant is considered a no risk activity not only by us, but by the CDC and WHO as well.  Further, STIs are not transmitted by transfer on things such as dirty towels or bedding.  From a scientific perspective I see no need for testing although I can understand the comfort that negative test results provide.  You can test for gonorrhea, chlamydia, and trich at this time and your results will be reliable and conclusive.  Blood tests for syphilis and HIV will not be entirely conclusive until 6 weeks following the encounter although testing at 4 weeks will be more than 95% reliable.  I urge you not to test for herpes.  If you were going to develop herpes lesions, they would have appeared within 10 days of the encounter and blood tests for herpes in situations such as yours are notoriously unreliable, both in terms of falsely positive and falsely negative results- to perform blood tests in your situation is just asking for trouble.  There are no tests for HPV in men and as noted above, your risk is miniscule if there is any risk at all.

I hope this information is helpful.  EWH

As you know, we provide up to 3 responses to each client's questions. This is my 3rd response.  The thread will be closed shortly without further responses.  Take care.  Please don't worry.  EWH