You have been posting here long enough to know the risks for HIV, but I'll post them one last time. The only risks for HIV transmission in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles.
Sorry but I forgot to mention the rest and I'm worried because I have sore throat and I began thinking. After fingering I asked about their HIV status. I haven't seen them for half a year, but they are both on prep and they take it daily. Due to corona they haven't had sex with other people. They showed me their results from 2 weeks ago and they are both negative for hiv, chlamydia and gonorrhea. My last lab result was neg for HIV as well. We used condoms but was is the risk to leave behind the condoms next time if we know that we don't have hiv assuming that we don't fool around with others?
It doesn't matter WHY you are worried. Your level of worry has no relationship to the level of risk from this event, which is ZERO.
The choice of whether to use condoms for penetrative anal or vaginal intercourse is one only you and your partners can make. If you are certain that none of the parties have HIV and do not have intercourse with other people, then none of you are at risk for HIV from each other.