Your situation involves personal contact with an object in air ( penis 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.
You are focusing on the wrong virus since you didn't have any hiv risk.
At this point in time, I would avoid encounters with people you don't live with because of the likely 100% risk of you contracting or spreading Covid (if one of you two was positive) in which case you might also spread it to your loved ones.
Since neither of you were social distancing, I hope you check out this forum for information on why you should be doing that 100% of the time today. https://www.medhelp.org/forums/Coronavirus/show/2203
Your health is your wealth, so I hope you remain healthy to be able to enjoy life. Many infected Covid patients including young people are under the misunderstanding that they have zero risk from Covid, but will discover that not all of them will be spared permanent lung and related heart issues in which case they have lost that wealth forever.