Can sperm go through two layers of clothing and cause pregnancy if both of us were wearing pajamas? also, i didn't ejaculate but is there any possibility that sperm came out before ejaculation?

No. Yes.: No... because in real life, clothing prevents pregnancy by preventing the passage of sperm, of penises, and of fingers. If not wanting to start a family, one can just keep his or her clothing on. It works quite well. Yes to the second question... because the answer to the question, "is there any possibility..." that something can happen somewhere in the universe, is almost always yes.