Could I possibly be pregnant from just naked genital rubbing but no ejaculation?

Hello Miss
I have a history of thyroid and hormonal imbalance, also I'm overweight and my periods are very irregular as a result. It has been this way for about 5 years. April 2nd I had my period, but May 2nd I didn't get it, (for the whole month) which is very normal for me, however on May 16th for the first time, me and my boyfriend were just messing around and we attempted at rubbing our genitals against each other, he was dry and he didn't release any sort of liquid (pre cum) or ejaculate, we stopped immediately because it was unsuccessful and he wasn't able to ejaculate at all the entire day. Before we did the above mentioned activity, he had urinated as well so according to my knowledge, if there even was a slight chance of maybe a drop of pre cum leaking it wouldn't contain any sperm (right?). I know the chances of me being pregnant are quite slim, but 6-7 days after, I did take a pregnancy test out of curiosity and partly anxiety, and the result was negative. Today is the 6th of May, and I have a reddish-brown clotty discharge, this is normal for me on the first day of my period, it's the same every time.
But still I have been very anxious and as a result I haven't got proper sleep in days, so please do let me know, is there a possibility that I'm pregnant at all?
Thanks a million!

Me and my boyfriend were rubbing genitals, he didn't ejacualte but he does have pre cum but he didn't put it inside me is their a chance of me getting preganant

This Monday(posted on a Wednesday) me and my boyfriend were messing around for the first time and we were rubbing our genitals together but we didnt do it for to long only rubbed against mine for a few seconds and i went pee before because I heard it helps prevent pregnancy (don't know if that's true or not) I am just freaking out because I am supposed to get my period this week but it hasn't come yet

Hello, ma'am.

My boyfriend and I were also rubbing bare genitals last Thursday. (I'm posting this now on a Monday.) He rubbed his shaft against my clit for how many seconds before pulling back and proceeding with mutual masturbation. He didn't cum anywhere near my vulva. I'm fearful of being pregnant. I don't know what we were thinking...
I was already a few days late from when my period was estimated to happen when we did what I said above. Until now, my period is late. My period being this late is normal because I have irregular period. Anxiety has been suffocating me the past few days and I need some kind of reassurance... Please...

Additional information:
- He did not masturbate at all on that day (except for when I gave him a handjob during mutual masturbation) and he peed before that.
- He says that he isn't the type to have precum at all and he was dry when we rubbed.
- While we were rubbing, there was 1-2 times his penis went out of place and poked my hole but he didn't cum on nor penetrate my vagina, because even he wasn't ready for it completely.

Please, I need advice... I don't know if I should take the Plan B pill or wait a few more days for my period. I fear that if I wait for my period, it might not come at all and I'd be too late to take the pill or to prevent anything anymore. I fear telling my parents. Is it better to take the Plan B pill? Should I take the pregnancy test? Does this kind of foreplay get someone pregnant? I know of two girls who had their boyfriend stick their whole penis in and cum outside but they aren't pregnant. I'm praying hard I'm not pregnant as well.

Thank you for taking the time to answer me.

Hello mam,

I wanted to follow up with u regarding my problem.

Just for your reference here is the brief history.

My period in January was from 22nd to 27 jan.

28 jan night- Had sexual encounter with genital rubbing and fingering no ejaculation only chances of precum.

29 Jan Morning - took Ipill as precaution.

7 Feb-Got early withdrawl bleeding which started light and dark but later got normal and red.

DID NOT HAVE ANY PERIODS AFTER THAT FOR 2 and HALF month.

25 April -Got periods which lasted for 2 days with normal bleeding.Had to change pad only 2 or 3 times in a day.

I am thinking of getting myself checked for long periods as my earlier periods had been for more than 40 days.

Before that I just want to confirm given the chain of events is there a possibility that I can still be pregnant as i have been feeling weakness sometimes and nausea too so getting doubtful.
Please help

The chance is slim to none. But there's always a possibility. The same thing happened to me and i wished i didn't spend all the time searching bc it just makes the stress worse. I had the same experience. Genital rubbing no ejaculation, no penetration. And happened on my fertile week. I got so stressed that i overthink everything that happens in my body. But i got my regular period.