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While he rubbed his hands over your penis there may have been some exchange of body fluids between the two of you even though the contact lasted only briefly and not a lot of infected fluids would have been involved.
Nevertheless assuming him to be a potential source of STD's, risk of acquiring an STD through this act cannot be totally ruled out because both precum or salivary glandular secretions can be a source of various STD's like
Genital Herpes,
Gonorrhea, Chlamydia,
HIV etc.
Regarding the brief oral sexual encounter between you two, in which you were the receiving sexual partner, there is a risk of Genital Herpes,
Syphilis, Gonnorhea and chlamydia and also a low risk of HIV.
Moreover, the possibility of presence of sores in
oral mucosa would make HIV transmission as well as transmission of other STD's more likely because some blood cells would be present mixed with salivary secretions, thus increasing the chances of HIV and other STD's.
Therefore, these sexual acts cannot be assumed to be entirely safe and I would suggest you to get yourself tested for Genital Herpes, Gonorrhea, Chlamydia, HIV and Syphilis at appropriate intervals.
Regards