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Hello and welcome to EmpowHer,
Dry humping cannot cause pregnancy. Pregnancy can only occur if the male ejaculates into the vagina during penetration.
Sperm also cannot pass through fabric.
I suggest you check out the article at the link below that talks more about outercourse and pregnancy.
https://www.empowher.com/sex-amp-relationships/content/answers-women-am-i-pregnant-after-dry-sex-making-out-clothes
Faith