Can you contract HIV from vaginal fluids that are on underwear?

I did something fairly stupid, i used a condom while having sex with a girl but it was in an awkward place. I at one point had to put my penis that was inside her back into my pants. After that we continued and in the end i took of the condom kind of hastily. And put my penis back into my pants where the condom was.

My anxiety is killing me now, she says she got tested in may of this year and that she had nothing but i just randomly got a sore throat 2 weeks after.
How likely is it to contract HIV in this way?