Can you get pregnant from finger penetration without sperm?

No. It is extremely unlikely that you will get pregnant from the insertion of your fingers into the vagina, especially if there was no semen on your fingers. For pregnancy to happen, the sperm would need to be fresh and inserted deep into the vagina in a short period of time so that they can reach the egg and fertilize it. In the situation you have described, this is therefore highly unlikely.

I encourage you to read:

https://www.gdziepolek.pl/artykuly/jak-prawidlowo-stosowac-antykoncepcje

https://www.gdziepolek.pl/artykuly/jakie-leki-oslabiaja-skutecznosc-antykoncepcji

https://www.gdziepolek.pl/blog/historia-antykoncepcji-metody-zapobiegania-ciazy-kiedys-i-dzis

You can make an appointment for a teleconsultation here:

https://www.gdziepolek.pl/telekonsultacja