There is absolutely no risk here.
* You had your close on the entire time. STDs don't go through clothing.
* STDs aren't transmitted by kissing.
* STDs aren't transmitted by breasts.
* STDs are transmitted by unprotected oral, vaginal or anal sex. Some STDs can be transmitted by direct skin-to-skin (unclothed) contact of oral to genital, genital to genital, or genital to anal contact, but this usually requires a lot of friction, like the kind involving intercourse. These are herpes, syphilis and HPV. These can sometimes be transmitted while using a condom because the skin isn't fully covered by a condom.
However, none of your areas came into direct contact with her areas.
You are fine and do not need to test.