Condoms lessen the risk of infection for all STDs. You still can get certain STDs, like herpes or HPV, from contact with your partner's skin even when using a condom.
Make sure you both get tested to know for sure that neither of you has an STD. This is one of the most reliable ways to avoid STDs.
The HPV vaccine is safe, effective, and can help you avoid HPV-related health problems like genital warts and some cancers.
It might be uncomfortable to start the conversation, but protecting your health is your responsibility.
The only way to know for sure if you have an STD is to get tested.