As long as the urethra was covered with the condom there is no risk.
It is certain that you are anxious and it's leading you to think in multiple ways which is causing your paranoia. Whatever the cause of your anxiety is needs to be addressed and that can be done by a counselor. As far as HIV is concerned, since you are confident there was no unprotected penetration, there is no risk associated.
I'm having a hard time understanding exactly what you are saying. You had unprotected sex? Or was the head of your penis covered? As long as the head of your penis is covered, there is no risk of HIV transmission. Kissing and unprotected oral are not risks (air and saliva inactivate the virus, only risks are unprotected vaginal or anal sex or sharing IV drug needles). So, not sure what you are saying exactly happened. A one time unprotected sex exposure is extremely LOW risk of a transmission rate of LESS than 1%. So, very unlikely in worst case scenario that you would have gotten HIV from this. Best case, your penis was covered. I'd wait until 28 days and get an HIV Duo test if you are concerned the head of your penis was uncovered.