Ok but this other doctor is telling me yes I can get hiv/aids if no semen came out or went in side a persons body by dry humping with no clothing on?

Wrong. You're not getting HIV that way any more than you are going to get pregnant off a bar of soap or getting in the pool after men's swim practice. Forget about 'theoretical risks'. It's not going to happen.
Get to a good Doctor. That doctor is not an expert. I don't even have to know who they are. It is not accurate and i would advise you to listen to those who are experts in stds and hiv.