HIV RISK DUE TO MSM. He has hpv or hiv?

I had recent encounter of MSM where the other guy and I both rubbed each other organs and touched each other's organ with ours, there might be Precum but no seminal discharges. Later I saw some bumps on penis not sure but they were near his groin area also and I think they were like sore bumps or warts. I immediately stopped and then I asked him if he has HPV or HIV? He refused he said he has urinal infection for which he is on meds, but we did not proceed further with the act, no penetrative sex was done only some touching and rubbing . This was my first and last experience as now I am really worried and has so much of anxiety of contracting that dangerous disease. Please tell me does HIV spread like this with some frottage and rubbing, I think I am thinking so much that I am going in depression and has anxiety issues now. When I am writing this it's been 48hrs I even missed an opportunity of taking PrEP I guess.