No worries, based on your description hiv risk is non-existent since penetration did not occur. Since you explained that you know you weren't penetrated then you had no risk. However, this has been worrying you with what-ifs for quite some time, so if you still feel uneasy, perhaps it is best to take a duo test (since it is conclusive after 4 weeks) then you can forget about what seems like a non-event. Any other test is conclusive after 3 months. btw, PEP must be started within 3 days of exposure so that is not an option at this time.
At this point in time, which I see is 2 months since your encounter, I would avoid encounters with people you don't live with because of the great risk to you or possibly your loved ones of contracting Covid.
In case you are not social distancing at present here is that forum. https://www.medhelp.org/forums/Coronavirus/show/2203
Your health is your wealth, so I hope you remain healthy to be able to enjoy life.