In adults, HIV is ONLY transmitted by:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
If you do not do either of those things, you will never have to worry about HIV. Any other event that you can think of is NOT a risk for HIV, so there is no need to ask about other events/scenarios.
Only unprotected vaginal or anal intercourse can spread HIV, Nipples are not vaginal sex.