The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
There is 0% risk from any of the activities you mentioned. HIV is NEVER transmitted by receiving oral sex, or touching/sucking any body part. HIV is only transmitted in the two ways I mentioned above.
Since you had ZERO risk, you do not need a test and you can move on from this event.