1. does a penis have to penetrate a vagina to get pregnant? 2. can sperm travel through fabric and cause pregnancy?

1.no 2.depends: Pregnancy requires that one healthy sperm make the journey into & up the female genital tract to the Fallopian tube where it encounters a fertile egg. It doesn't matter how the sperm gets into the vagina. In most instances sperm cannot travel thorough fabric, but I never say never.

Agree with Dr. F: You are exposing yourself to the risk of pregnancy and sexually transmitted diseases. Practice safe sex: https://www.hopkinsmedicine.org/health/wellness-and-prevention/safer-sex-guidelines If you do not wish to be pregnant, use contraception all the time, every time. You may consider implanted contraceptive, or IUD. Get HPV vaccine

Yes and no: Yes to the first question ( artificial insemination the exception), fabric will serve as mechanical protection and pregnancy is not possible through clothes.