You need to relax, despite of factoring what you posted again, the recommendation to not test can't change.
I will reiterate for your benefit, unless there is unprotected penetration, which means a penis is not 'inside' of a vagina, there is no risk of transmission.
I wouldn't ever take HIV helplines seriously, their agents are always reading a script out of their computer screen. Here, we are volunteering to provide factual information based on years of understanding this subject. You seem to have a choice to make here.
I guess, it's time for you to move on instead of feeding unnecessary information to your mind from consumption of useless data on the internet. If you are stressed about this event, please try and speak to a therapist that can probably help you moving on.
At this point, you don't have a concern that belong to this forum and certainly no reason for you to test.
No. You have described an event that doesn't put you at a risk of HIV transmission.
Two important things for you to know:
1. Unless there is unprotected vaginal or anal penetration, there is no risk that can be associated.
2. Always insist on using condoms. If you use them correctly and consistently, you shall never have to worry about HIV and other STIs.
Your situation involves personal contact with an object in air ( someone's penis and body 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.