Oral, anal or vaginal and did you use condom?
No one BUT you would know if you inserted your penis. Which means no one can assess your risk here. Oral is not a risk, giving or receiving. And insertion is up to you whether it happened. BUT, if it did? Still low exposure with about 1% being the statistic for a single unprotected sexual encounter. Your odds of getting HIV are so extremely low.
It is for you to know whether you actually inserted into her vagina. Try recollecting whether you did that. If you did that, without wearing a condom, however briefly, you need to get tested. If you had a condom, then there is no need to test.