It’s possible you could get Sexually Transmitted Infections like herpes, syphilis or genital warts from a nude lap dance with “full friction”. These STIs are passed by skin-to-skin contact between people’s genitals (private parts), so if your genitals were rubbing against the dancers’ it might pass these kind of infections. HIV is not passed through skin-to-skin contact and lap dances do not transmit HIV. You are probably not at risk for gonorrhea or chlamydia from a lap dance.
It is not a risk to you if you ejaculate (come out with semen) during a lap dance. (It could be a risk for the dancer.)
We do not think you can get STIs through hugging, touching breasts with your hands, eyes, nose or mouth, or touching a dancer’s bum.
Hope that helps answer your questions,