Don't test. You had no risk. HIV is dead in air. HIV is also dead in saliva. It doesn't matter if both of you are cut because it can't spread HIV from fingering.
Only having unprotected penetrating anal or vaginal sex with a penis is a risk because HIV is not able to infect any other way. You were a long way from either of those so you had zero risk.
Move on from HIV.
Glad you are understanding how difficult it is to actually transmit HIV. It is a very fragile virus. As anxious said, only unprotected vaginal or anal sex or sharing of IV drug needles will transmit it to adults. Touching vaginal fluid poses no risk.
My suggestion for phobia and fear (as you say) for a non risk HIV issue is to seek help from a psychiatrist for phobia and fear. This is not an HIV issue but translates to your needing help with anxiety. That is my suggestion.