From your description, frottage really didn't happen and if so, was blocked partially and so brief that I would not be worried about an STD transmission. Nothing else you mention is a risk at all from kiss to cheek, fingering an anus, being masturbated by hand job, etc. In the absence of any symptoms, there is no reason to test and sincerely think you are in the clear from what you describe as frottage may or may not have happened and would have been so minimal that it wouldn't be enough to transmit anything.