HIV is instantly inactivated in air so only sex risks are unprotected penetrating vaginal or anal which you didn't have. You are safe.
As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
You had NO RISK for HIV, and you do not need to test for HIV. There is no detail that you could add to this story to make it a risk for HIV.
HIV transmission, sexually, only happens INSIDE the body - when a penis is inside a vagina or anus, unprotected. HIV loses its ability to infect after leaving the body. You cannot transfer HIV via fluid on your hand.