HIV risks for adults are:
1) having unprotected, penetrative, anal or vaginal sex, or
2) sharing intravenous needles (with IV drug users)
NOTHING else you can think of is a risk for HIV, including oral sex with or without a condom. You had zero risk for HIV and you do not need to test for HIV.
STD questions belong in the STD forum: https://
www.medhelp.org/forums/STDs---STIs/show/98