Could I get HIV from having vaginal fluids smeared onto my penis urethra and foreskin?

I am from a non-English speaking country where sex education resources are limited.

Less than 24 hours ago, I was in a shower, with a CSW (Commercial Sex Worker) and then she rubbed her vaginal really hard, it was dripping wet and then she immediatly used it to touch my urethra and penis head. I am a little bit worried as I had read that HIV enters the body mostly through the skin under the foreskin which has Langerhan’s cells that pull the HIV in and not through the urethra.

Is this a viable way of HIV transmission?