Hi.   I am a male and in a recent encounter I engaged in dry humping with a female.  I was naked and she was wearing a bikini bathing suit bottom at all times.  With my erect penis we humped both missionary and doggy style.  With the friction her bikini bottom may have shifted a bit so I cannot entirely rule out genital to genital contact but nothing noticeable and certainly no penatrative sex at all.  If anything, her bottoms may have  bunched up in a weggie durning doggie style so my penis was closer to the anus area then without a weggie.

To add.  In another instance when her bottoms were off I kissed the inside of her thighs close to her vagina and above her vagina, all kisses were a couple of inches from her actual vagina and I never performed oral sex on her.  I assume this aspect of the encounter is little to no risk for STD?

Welcome to the Forum.  I'll be glad to comment.  Even if your partner happened to have an STI, which is statistically unlikely, all of the activities that you describe, including kissing her thighs are no risk events for virtually all STIs including HIV.  The "dry humping" you describe is a form or frottage/masturbation which is considered no risk.   Further, STIs are not transmitted through clothing, even sheer material which might be wet with genital secretions- still no risk.   While there may be a tiny theoretical risk of acquiring a "lesion" STI such as herpes or Syphilis, that risk is PURELY theoretical and I have never seen on infection acquired in this way.  I see no reason for concern and no reason for testing.  ---