You have asked similar questions in the past, so let's make it clear.
The only adult risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex with someone of unknown status, or
2) sharing intravenous drug needles
You had zero risk for HIV. No penetration = no risk. You do not need an HIV test since you had no risk for HIV.
No one has ever been infected in this manner, and you will not be the first.