These are all pretty similar to your previous questions.
1) deep throat kissing with the potential of a small lip bit (I didn’t notice, see, taste any blood at any stage, this could just be my overthinking)
No risk. There has never been a confirmed case of HIV from kissing. The only risk would be oral herpes type 1, which you can get from kissing your mom or grandmother.
2) sucking both of their nipples quite hard
Sucking nipples softly or hard - no risk. Already answered this for you before.
3) potentially kissing the one after she licked the others vagina
No risk. Oral sex on a vagina is quite low risk, and kissing someone after that is no risk.
4) and lastly I’m sure I touched/ rubbed their vagina lips a little with my fingers, I’m not sure if I washed my hands before I went to the bathroom and potentially touched my penis after the vagina stroking.
No risk. I'll include links at the end that explain why this is not a risk,
5) a lot of hard pushing dry humping from my penis to their exposed vagina, but my jeans and underwear were on.
No STD, including HIV, goes through clothing. No risk.
I don't know why you keep entertaining yourself with sex workers if it stresses you out so much.
The only way you get an STD is oral, vaginal or anal sex. You have to do the oral sex.
Heavy grinding or rubbing while you are both unclothed can transmit certain STDs, but it has to have the friction associated with intercourse.
Here are some posts from our experts (when we had them) that may help -
https://
www.medhelp.org/posts/STDs/Nervous-about-mutual-masturbation/show/2183476
https://
www.medhelp.org/posts/STDs/Mutual-Masturbation-STD/show/1968429
https://
www.medhelp.org/posts/STDs/mutual-masturbation-sti/show/1858544
https://
www.medhelp.org/posts/STDs/Understanding-the-risks-of-mutual-fingering/show/1516796
https://
www.medhelp.org/posts/HIV---Prevention/Vaginal-fluid-on-hand-touched-inside-of-condom-and-head-of-penis/show/1119533 - read this thread thoroughly. There is an excellent explanation about why certain activities are not risks, and why others are.