Have you ever had a herpes antibody test in the past? It would be good know what your baseline HSV test results is just so you know where things are right now. I would be surprised if you would have a positive antibody test from that exposure now. It is possible, but I still think it would be worth knowing where you stand now. Since 80% of people with HSV 2 don’t know it, it would be worth doing.
Having said all of that, I think your risk of acquiring herpes in this situation is quite low. It was condom protected, which is great. Sleeping together naked doesn’t present a risk without sexual contact.
When someone has sex with a person who has herpes, they become really aware of all genital sensations, in my experience. Let me know test results and I will help you sort them out as needed.