Is HIV Transmission Possible Through Non Penetrative Intercourse?

So last night I was with a man who told me he was tested in April, everything coming back negative, and always uses a condom. We didn t have intercourse, though we performed oral sex on each other and performed frottage, with him putting his penis around the area of my anus, though there was no penetration. He did however pre-cum quite a bit. I did quite a bit of research online regarding both of these activities, and all the sources said there was a very low risk for HIV transmission. I plan on getting tested soon, as I do regularly, but I wanted to double check with you to make sure I don t need post-exposure prophylaxis, which I d rather not get because it is extremely expensive. I also have Herpes Type 1 around my anus, if that makes any difference.