You can not get HIV from feet licking. The only way adults get HIV is from unprotected vaginal or anal sex or sharing IV drug needles. Air and saliva inactivate the virus. This is, therefore, ZERO risk and you do not need to test.
No risk whatsoever.
Please read about HIV and it's transmission in the below link and move on. Testing is not recommended.
https://www.hiv.gov/hiv-basics/overview/about-hiv-and-aids/who-is-at-risk-for-hiv