Is it possible to get pregnant after my boyfriend inserted his fingers into my vagina, about 5 minutes after taking off a condom...

Timing matters: The timing of this event in relationship to your ovulation would be a big factor. Also, the vitality of his sperm and a bunch of luck - good or bad depending on whether it's something you both want or not. Pregnancy from this is much less likely than vaginal sex w/out a condom on the same day. If you miss a period, do a test. Again, timing matters.