Thank you so much for this. You have NO IDEA (or maybe you do) how much this helped. I was FREAKING out.
WHEW
Welcome back to the forum.
You had accurate replies from joggen and Lizzie Lou on the community forum. I'll add my congratulations for your careful approach to safe sex -- consistent condom use for anal sex, discussing HIV status before sex (and presumably avoiding anal sex, or sex enitrely, with men who are HIV positive, don't know, or seem evasive about it). By doing so, you can expect to go a lifetime without catching HIV.
As for brief "dipping", it would be best to avoid -- but given the brevity of the exposure and your partner's probably HIV status, this shouldn't be any worry for you. Remember that with full unprotected anal sex, lasting for several minutes, the average HIV transmission rate from bottom to top (if bottom is infected) is around 1 in 500. Even among men having sex with men, and even with anal sex, HIV is not efficiently transmitted.
From a risk assessment perspective, you don't need HIV testing. Even for people with exposures much riskier than yours, I generally recommend against testing after any single exposure. It is smarter to simply plan on routine HIV testing from time to time. At your level of sexual safety, once every 1-2 years would be sufficient. Of course you are free to be tested after this or any other individual exposure, and if you haven't been HIV tested in the past year or so, this would be a good time, since it's on your mind. But not because of this particular exposure.
For sure you do not need DNA testing; a standard antibody test at 6-8 weeks (or a duo test for both antibody and p24 antigen at 4 weeks) is sufficient. In the meantime, stay mellow. There is no realistic chance you caught HIV.
I hope this helps. Best wishes-- HHH, MD