I need information on STDs

I’ve always kept a healthy life, and I’ve gotten regular checks for STDs. I recently made my current boyfriend get tested as well because he brought up wanting to stop using condoms. NOW here is my worry, he tested negative for STDs, but he says on the paper it says he has previously been exposed to herpes, type 2. He says the Doctor told him he was fine because he has never had a breakout, But I think he is still very confused as well. I’m a little concern as to if I should get checked too, only because when we foreplay he does rub the tip of his penis on my clit and he previously did put the tip of his penis inside my vagina twice. So I want to know what that means for the both us and for him mostly, and if sex without condoms will ever be possible?