I totally understand how stressful and overwhelming this uncertainty can feel. Yes, it is biologically possible to get pregnant this way. Please don't worry alone, talk to a doctor who can help guide you gently through this.
Yes, biologically it is very much possible because sperm can travel even with minimal penetration. If you are trying to avoid pregnancy or trying to conceive, keep track of your dates. Consult a doctor quickly if you need emergency contraception, as timing is everything.
Yes, even with limited penetration or pre-cum, there is always a chance of pregnancy. To be absolutely sure and safe, please consult your gynac. They will guide you on the next steps or tests.
Haan beta, even a little bit can sometimes lead to pregnancy because nature works in its own way. If your periods are late, please do a simple home test. Don't worry, keep patience and talk to a doctor if you are confused.