You have been advised to test ONLY if you need to do so for peace of mind. We're not going to ask members to keep answering the same questions.
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HIV generally requires a lot of rubbing the head of your penis inside the anus in order to transmit, which is what happens during full intercourse. I wouldn't worry about this, but if you need to test for peace, do so using a 4th generation test at least 28 days after your encounter.
If you penetrated both of you would know. hiv is dead in air so the worst that happened is you rubbed dead virus on your penis. This isn't your first skin irritation or medical condition and you didn't have hiv the last time one occurred either. It is time to move on.