Took one birth control pill 12 hours late, genital contact, no penetration or ejaculation. can i trust negative pregnancy test 16 days later?

Yes: Depending on how long you have been on birth control pills i would say that you are absolutely fine. Especially since there was no sexual intercourse, also since you took the pregnancy test 16 days later this should give you a very clear answer as to if you are pregnant or not.

unlikely: It is very unlikely that you are pregnant. Wait a few days and confirm with a second home pregnancy test.

No sperm/no pregnant: If there was not penetration, and no sperm, than you would not be pregnant, and on top of that you only missed 1 pill by 12 hours, so you should trust the negative pregnancy test.