Your question seems to be anxiety driven. For a risk, there needs to be penetration, which can be defined as insertion of a penis 'inside' of vagina or anus. Penis merely touching the body is not a risk, although impractical, even if there was contact with bodily fluids there was no risk since HIV can't be transmitted outside of body.
I repeat, only risk that can be associated in adults are:
-Unprotected vaginal or anal 'penetration'.
-Sharing needles intravenously with people who inject drugs.
You don't seem to be at risk. I don't feel you need to test.
I was worried that his prostatic fluid would run into my hemorrhoid wound and cause an infection.