I visited a couple stripper/hookers (blush). The worst thing I did was <1cm of a finger in the vagina of the first one, while touching the rest of her body, and then lightly kissed some of her body possibly after touching with that hand. The second one I got a handjob but also had full body contact with her. No direct gential/genital contact though, the second one was a germiphobe and the first my pants were on (though her hands were down my pants a bit). Sorry if that is awkward! But boys will be boys.
I think there is essentially zero risk here, but I don't want to threaten any future partners and I'd rather not get tested unless there is reasonable risk.