Thank you for your inquiry. From what we gather from the question, you were asking about the risk of acquiring HIV after engaging in genital rubbing and possible unprotected insertive sex. From the information given, this scenario is determined to be High Risk (there is evidence of transmission through these activities and are the majority of cases of transmission).
The scenario mentioned above does meet the three components of the transmission equation. Even if only rubbing occurred, there is a chance that vaginal fluid could have gained direct access to your bloodstream through your urethra.
It was very responsible of you to access PEP after engaging is a possible risky activity, especially since you are not certain of the full extent of the activity. PEP reduces the risk of HIV transmission by more than 80%, and effectiveness is likely much higher if used as early as possible (within 72 hours) and used consistently and correctly as prescribed (1). After you have completed a full course of PEP, access testing outside of the window period (day 1 is the first day post-PEP, not post-exposure).
Recommendation: Refer to a health care provider for HIV testing outside of the window period after PEP.
AIDS Vancouver Helpline/Online, Marie
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1) Post-Exposure Prophylaxis