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

Ok here's my situation. My girlfriend and I were fooling around just recently.
What happened : we were rubbing our genital against each other. However we made sure that my tip of penis did not touch her vagina throughout the whole process. So basically I was lying down while she was on me and she was rubbing her vagina on the "shaft" of my penis. No contact with the tip or the opening of my penis.
I did have precum however I did not ejaculate the few days before this happen so I'm assuming that my precum wouldn't contain sperm.
Her period also just finish a few days earlier before this happened. Her next period is expected to come in about 20 days time.
We are both virgins and we never had any penetration before meaning her hymen is still intact.
We washed ourself up after we were done fooling around
because it's our first time getting intermate now we're both panicking if a pregnancy would happen.
Should we visit the clinic or get birth control pills what do we do
Basically I'm just worried that we may have been careless like maybe I may have touched the precum from my genitals and then touched her genitals. Someday or another we're just worried that precum may have reached the surface of her genital. In that sense what are the odds of pregnancy?

Me and my boyfriend grinded naked in the shower, he ejaculated away from my vagina. But i don't know about precum or anything. Is it possible I'm pregantn? My next period isn't for 17 days and my period cycles on the same number date every month

Hi! I definitely have a question about this as well. A few nights ago, my boyfriend and I were grinding (he was wearing underwear and athletic pants, I was completely nude). A couple of minutes later, he said he was close, and we stopped for a bit. Then, we started doing it again (this time he went to the bathroom and cummed). Then, we did it again. His pants seemed a little wet (although I don't know if it was from me or him). Is there a chance of pregnancy this way? I think it was about the time that I was ovulating. I'm really paranoid. Thanks in advance!

Hi, so my boyfriend and I were rubbing our genitals together, and I'm terrified of pregnancy because I know about pre cum. My last period was September 13 and we did this September 16. There was no penetration, just grinding, but his tip did tease my entrance a few times. I later pulled back on my undies and gave him oral, and that's when he came in my mouth. Since I've just had my period a few days before this sexual encounter, what are the chances of me being pregnant? I'm not on the pill and no protection was used. Should I take plan B?
Thanks

My boyfriend and I didn't have sex he just rubbed his cock next to my pussie for a hot mintue. He did not insert it. I got my period that month but it didn't shed like it usually does. This month I'm four days late but I haven't had any sexual contact this month. I am getting random period pains but it's hasn't came yet.Could I be pregnant?

Hi! My boyfriend and I were rubbing against each other and he didn't come, but I'm worried about pre-cm. He said "he was close". I took plan b within 72 hours- got my period 2 days later than normal but it was shorter and lighter than normal. Now I'm freaking myself out with how my stomach looks. Two tests have said negative but I'm still unsure. Help!