Was naked with my gf. got aroused. didn't touch her vagina w/ my penis the entire time. after we had sex with condom. could she be pregnant ?

Yes, but unlikely: A urine pregnancy test done correctly gives a reliable result 3 weeks after sex (3 weeks after when conception might have happened) or 1 week after missing a period. If done sooner, a positive result is likely real, but a negative result may be due to testing too soon, and therefore lead to a repeat test. If a woman has her normal regular period, then she is not pregnant, and a test is not needed.

Yes: Yes she could be pregnanat. Condoms are not 100% effectvie at preventing pregnancy. They break, have small tears etc a small percentage of the time.