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Handjob is never a risk for hiv.
Your situation involves personal contact with an object in air (her hand which is not a risk for hiv.) No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
Perhaps you should stop going to these places since it has worried you afterwards a few times in the last month, or else consider therapy to help you accept that you can't get hiv from this activity. You do run the risk of Covid though, so you are focusing on the wrong virus.