Welcome to our Forum. I have deleted your two other redundant posts. We answer questions as time permits. That does not permit immediate responses to all questions. Please be patient. All that re-posting does is run up your credit card bill.
The exposure you describe places you at no risk at all for HIV or for other STDs. STDs are not spread by kissing, by oral contact with a female partner's breasts, by touching a partner's genital areas through clothing (even shear panties) or by receipt of masturbation. You are not at risk for STD, nor do you need treatment or testing of any sort. This is true even if you happened to get some of her genital secretions on you From the sounds of things, you regret your actions and need to focus on your feelings of guilt. While you do, there is no need to worry about STDs.
I hope my comment will be helpful to you. EWH
how come no has answered my question