As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
You had ZERO RISK for HIV. HIV transmission only happens inside the body - when a penis is inside a vagina or anus unprotected. Fluid that leaked out of her body and into your anus are no longer infectious. A vagina rubbing you anywhere is not a risk.
You do not need a test since you didn't have a risk.