Liquid getting inside a condom is NOT a risk for HIV, whether it is vaginal fluid or KY jelly. As long as the head of your penis was covered while your penis was inside her vagina, you were not at risk for HIV at all.
The only activities that could put you at risk for HIV are:
1) unprotected, penetrative anal or vaginal sex, or
2) sharing IV drug needles.
Again, as long as the condom covered the head of your penis during penetration, you were never exposed to HIV and you do not need to test.