Sorry about the condom broke. That does mean you had an actual risk, unfortunately. But as stated, it is low for a one time exposure like this. Less than 1 percent. I sincerely doubt she had HIV or that you would get HIV from this. PEP is typically reserved for an exposure with someone KNOWN to have HIV. It's kind of hard to take with side effects. It's up to you if you want to talk to your doctor about it but I don't think it is needed (and has to be taken within 72 hours). I'd personally stay really busy for the next month and take a 4th generation DUO at 28 days to confirm you are negative.
Was the hookup a sex worker and did she ask for you to use a condom? Can you find when she tested last?