Well risk carries the genital-genital rubbing and while that risk free, it is low risk. Your symptoms are not consistent with herpes. If I were in your situation, I would probably ask the person that you had the encounter with to get a herpes antibody test and pay for it. The tiny bumps on your penis that you described are probably completely normal but you’ve also probably never looked this closely before.
I think the risk of you acquiring herpes in the situation is just incredibly low but not zero.
Terri