I got semen on my hands and then i wiped it on my clothes and then i started to finger her but i did not go inside fully i only rubbed the outside part, can she get pregnant?

Any residual sperm are dead at that point. They die in minutes if not in the moist warm environment of vaginal mucus.

In this scenario chances are very low as sperms have to enter inside the vagina to cause pregnancy

Semen dies in 3-5 minutes outside the vagina and on surfaces such as hands and clothes. Only active sperm ejaculated into the vagina can cause pregnancy, There have been cases of fresh sperm on fingers entered into the vagina causing pregnancy.