NO. Unless I'm misunderstanding, you may have inserted for a few seconds. Your risk was infinitesimal, if any risk even exists. PEP is usually recommended for people who have had a high-risk encounter, not an extremely low-risk encounter like the one you describe.
Any vaginal or anal insertion is a risk however you had very little penetration which is likely not enough to infect so I wouldn't worry much. Just test with a duo after 4 weeks or any other after 12. Oral is zero risk because hiv is dead in air.