Well, ANM already expalined you HIV risks and your situation is straightforward i.e. No Risk - "Zero"
Once exposed to Ambient, the outer shell of the virus is immediatly damaged and it losses its capability to infect and becomes un-infectious.
Secondaly, PEP is not a easy drug and taking it on a No Risk situation will do more harm to your body. PEP is not warranted in your case.
Stop googling as it will only fuel your anxiety.
Move On. You do not have any HIV concern.
This answers all of your HIV questions, and if you can think of any more just reread about the 3. You had zero risk therefore testing is irrelevant to your situation because you had zero risk. HIV is a fragile virus, which is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, external rubbing or oral activities. It doesn't matter if you and they were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only 3 adult risks are the following:
1. unprotected penetrating vaginal with a penis
2. unprotected penetrating anal sex with a penis
3. sharing needles that you inject with.
The only way to get HIV is if you did one of the 3. The situation you describe is a long way from any of these 3.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching, external rubbing or oral activities. Doctors have calculated the risk from what you describe to be less than that of being hit by a meteor, therefore no one will get HIV from what you did in the next 40 years of your life either. The above HIV science is 40 years old and very well established, so no detail that you can add to your encounter will change it from zero risk.
PEP would be ridiculous to take for your situation. It is not candy and has some potential permanent risks.
Your other post indicates you have spent much of your life fearing HIV, so I suggest you see a therapist and try to deal with this irrational fear, and get some fun out of your life instead.