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 isn't any other situation that you can think of, including the ones that you mentioned, that would put you at risk for HIV. You didn't need PrEP for this event, but if you are going to continue taking it as a precautionary measure for future potential risk events (unprotected intercourse), then that makes sense.
You didn't get HIV from this event, even without the PrEP, and there's no reason to test. This forum only covers HIV questions, but you can ask about STDs here: https://
www.medhelp.org/forums/STDs-STIs/show/98