Is There A Risk Of HIV Transmission If His Semen May Have Come In Contact With The Tip Of My Penis And Urethra During Mutual Masturbation?

I had an encounter with a man who said he was hiv negative. Theres was no anal sex and minimal oral sex with no ejaculation in my mouth. He masturbated are penises together and I ejaculated first then he ejaculated and his semen may have gotten on the tip of my penis and my urethra. Is there a risk of his semen going in my urethra? I believe my semen was coating my urethra but I am not sure