I read your query and can understand your concern.
There is no chance of pregnancy in your case because sperm cannot travel and survive on clothes. Semen in its liquid form travels through clothes but it also dries out when it comes in contact with air. Sperm cannot swim through clothes, reach the vagina, and make you pregnant. It is also very difficult to identify sperm in semen. So there is no chance of pregnancy in your case.
Hope you found it useful, feel free to ask more questions.
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