As stated by our members, you had no risk for HIV.
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You can't get hiv when you use a condom and the condom rips apart if it fails so that didn't happen.
If you can't accept that then see a therapist because this forum can't do one on one counseling for people who worry.
If you're going to fall apart mentally every time you see a sex worker, then you maybe shouldn't do it again, then you won't have to waste your time afterwards going through agony that your imagination creates.