Okay, reading your previous questions, I see that you asked about most of what you worry about with this new encounter (which if it make you so freaked out and panicked after the fact, maybe this is not a good activity for you to do anymore?) and touching, the licking your back, etc. They aren't a risk for an std. And brief licking is also going to be pretty much no risk. Oral carries a low risk and in the absence of symptoms, there isn't any reason to test. That you had really less than oral and it was so brief, I would not think there is any chance of transmission.