Is it possible to get pregnant from dry humping

I know this sounds stupid but I’m just very scared and anxious since we don’t have sex ed here. For context I’m 18 and on January 10 me and my boyfriend dry humped, with me sitting on top of his lap grinding for 30 minutes. I was wearing underwear and fleece leggings. He was wearing jeans and boxers. He didn’t cum but he might have had pre cum. Aside from that we didn’t do any sexual activity ever.

My period is almost always on time but the last I had gotten my period was on dec 27 and throughout januaryI didn’t get my period and it was already Feb 3 so I went to the doctor and since I was really anxious she did ask for a clinic urine test and in the lab the reports came out negative. She gave me medroxyprogesterone and then after few days I got my period on around Feb 8 but it was kind of brownish period and then afterwards on February 13 since my stomach hurt due to gastritis I also took a ultrasound and it showed cavity empty and endometrial lining 2 mm. This is one month after the dry humping. I don’t know why even after all this I’m still really anxious and worried I can’t focus on anything please help