Your user name says it all. It will be okay. You are being told quite clearly that you did not have a risk for HIV. HIV is transmitted by unprotected vaginal, unprotected anal or sharing IV drug needles. These are the only ways. NONE of your activity is a risk for HIV. This is why your doctor says they would bet you it is negative. It's a winning bet for him/her, they know that. You should know that. You can't get HIV from protected sex, oral or kissing. No one has ever gotten HIV this way. In all the history of studying hiv. Not a single documented and proven case. So, this situation really boils down to your anxiety. THAT is the issue. That is a health concern in itself as poor mental health can make life so much harder. Could you talk to someone about illogical worry? Because to continue to worry about HIV after being clearly told this is a non risk exposure is illogical.
Your situation involves personal contact with an object in air (vagina, saliva, tongue, mouth, etc. ). You will be happy to learn that you had no risk, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal with a penis, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv - there are only 3 ways to get 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.
There is no reason for a person to test when they are safe. The advice took into consideration that the other person might be positive, so move on and enjoy life instead of thinking about this non-event. hiv prevention is straightforward since there are only 3 ways you can become infected, so next time you wonder if you had a risk, ask yourself this QUESTION. "Did I do any of the 3?" Then after you say "No, I didn't" you will know that it's time to move on back to your happy life.
No one got hiv from what you did during 40 years of hiv history and no one will get it in the next 40 years of your life either. You can do what you did any time and be safe.
You can't get hiv when you used a condom either. Your test was a waste of time. She is the last person in the world that I would kiss because she probably kisses every guy in town and catches everything going around, like strep throat etc so you worried about the wrong disease.