Healthcare workers are dedicated towards keeping you safe during procedures. There is no logical reasoning for one to assume that a professional would want to jeopardize your health by negligence, they are not trained to do that.
If you search through the archives of this forum, it will be evident to you that there are several worried well who go through the same concern. It can be perhaps addressed by a counselor. As far as HIV is concerned, it is not difficult to guess that you were never at risk and do not need to invest in to testing for HIV for this event.
If this was in a clinic the needle would have been clean and sterile and fresh from the pack. No real risk here.