Welcome to HCM.
You don't know his HIV
status. You don't know whether he ejaculated or not.
If he ejaculated you would have felt some wetness on you finger or your thigh.
Even if we assume that he ejaculated and if his semen came in contact with your thigh with razor abrasions, the chances of getting HIV through this means is negligible as per CDC, Atlanta.
Nothing to worry.