The risks for HIV are having unprotected vaginal or anal intercourse and sharing IV drug needles. Air and saliva inactivate the virus. As an adult, you will not get HIV from breast milk. From your description, it sounds like overall, your penis WAS covered. A hole like a pin hole will not allow transmission and that's a pretty rare occurrence as condoms break wide open. You also had the other condom on. In general, only use one condom.
Milk can't give you hiv so definitely nothing to worry about from that.
SHe's probably negative because she only uses condoms to protect herself. You can test with a duo after 4 weeks or any other after 12. I wouldn't worry while waiting for the test since I'm guessing she is negative.