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.
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.
Oral, anal or vaginal and did you use condom?