Madeout with bf, quick question!

So just recently, practically an hour ago, my boyfriend and I have been making out. He haven't gone completely all the way but there was a period of time where he rubbed his penis on my panties, not really near the vagina area but more of my upper part of the ass/asshole area. He was pre-cuming during that time. Any chances I could get pregnant from that? Yes I know, I had my panties on so its unlikely but still I'm aware sometimes precum can contain sperm. He said that he urinated this morning and he hasn't ejaculated during that time period. I would like to know, thank you very much in advance!

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