Can you get high risk hpv that causes cervical cancer from just genitals touching or from not having full penetration?

Yes: Hpv is just contact; you don't need full penetration to touch infected tissue to mucosa.

Yes: Hpv is a virus that causes all types of warts. Certain strains (16, 18, 31) r associated with high risk of cervical/laryngeal/anal cancer & can be spread through contact with infected genital skin, mucous membranes, or bodily fluids. Use adequate protection &/or consider getting the hpv vaccine.