Can sperm travel to my vagina if he cummed above my pubes/lower stomach even if im wearing thin underwear & spandex which appear to be sweaty and wet?

No risk, no worry: Health education sometimes goes too far in describing risks of STD or pregnancy, such as ejaculation near but not in the vagina. There is no realistic chance of either pregnancy or STD in this sitution. However, you need to be on proper contraceptions, such as birth control pill or implant. And to have condoms handy. You're obviously very close to having intercourse, if not doing so already.