Your situation involves personal contact with an object in air (her blood which is not a risk for hiv.) No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
Only the head of your penis needs protection and the condom provided that. Otherwise she wouldn't pay money for the condom, although she is only interested in you not infecting her so she is likely negative anyway.
Your urethra was protected with a condom, therefore you were safe.
The idea of menstrual fluid somehow sliding inside of condom and then entering your body through the orifice is irrational.
You don't need to test. HIV is not your concern.