Can grinding/dry humping permanently damage penis? was grinding roughly with my girlfriend w/o lube, ended up with red marks/friction burn immediately afterwards. can this cause nerve damage or plaque to form which could lead to peyronies bend?

What you described is not likely to result in any permanent damage. , Your behavior is putting you at risk of pregnancy and STDS. Visit this site for guidance on safe sex: https://www.hopkinsmedicine.org/health/wellness-and-prevention/safer-sex-guidelines Get HPV vaccine

Not from your description. But please avoid 'too much 'roughness' for it can cause local injury or 'burns'