I touched my clean undies (also the part that touches directly the private parts) without washing my hands. i had touched my phone, etc. are there any risks and should i re-wash them or am i being irrationally afraid of germs?

There is no risk of infection from what you described. For healthy diet: http://www.choosemyplate.gov/., exercise 30 minutes/day, drink enough water daily so your urine is mostly colorless, have safe sex, no tobacco alcohol weed or street drugs. Get HPV, Flu and Covid vaccines. Wish you good health! Safe sex: https://www.hopkinsmedicine.org/health/wellness-and-prevention/safer-sex-guidelines