Can sperm go through a single cotton underwear?

Hello there!
I know that you've answered these questions multiple times already, but you guys say that pregnancy isn't possible without unprotected sex and there are other sites that say that pregnancy is possible even if dry humping in underwear and that underwear doesn't work as a protection measure. Some sites say that pregnancy can happen if ejaculation seeps through a males underwear or if the female is wearing the underwear and if it moves to the side then semen can get into the vaginal opening.

Is this true? I'm sorry I'm just very scared because I had dry humped 3 months ago. I was the only one wearing a thin cotton underwear. I don't remember if ejaculation happened, but if it did, what are the chances of pregnancy?
Also, I've read that some women don't know they're pregnant until they go into Labour!! How is that possible? And that some women's hcg level is so low that they don't get a positive hpt result through out pregnancy, or by the time they find out it's too late for an abortion! Reading these things really scare me. It's been 3 months since my last dry hump encounter and I've done 3 hpt, all negative, but I'm scared what if I'm one of those women whose hpt won't show positive until to know late.
So can semen go through a single cotton fabric like underwear when rubbing private parts to cause pregnancy?
Thank you so much for your time!!

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