HIV is not a likely cause. But if your doctor recommends HIV testing, follow that advice.
as a follow up
my emg showed various neuropathys and radiculopathies this could not be from anxiety.now my hip joint is also having alot of pain and im having a hard time walking. is it possible that hiv would cause these things.
Commenting first on the title of your question: No STD causes chronic joint pain as the primary symptom. Your joint pain is not due to any infection caught during any sexual exposure.
1) Urethritis also is not a possible cause of the symptoms you describe.
2) No, not due to any STD. Certainly I have seen many people with symptoms like you describe that were attributed to anxiety, depression, or other psychological issues. That's the likely realm of your problems, I believe.
3) I see no reason for treatment of symptoms like these with doxycycline or any other antibiotic.
4) Reactive arthritis is an unlikely cause of this.
I strongly suggest that you abandon all attempts to find answers to your health problems by online searching. In any case, you need to stop looking for sexually transmitted explanations. Your symptoms almost certainly are not related to the sexual exposure you are concerned about, unless through the psychological route suggested above -- e.g. if you harbor anxieties, guilt, etc about the exposure.
Regards-- HHH, MD
i also think the sex worker may have performed oral without a condom but im not sure as when she jumped on top of me i saw the condom was on