You are safe from HIV so don't need to test.
HIV is instantly inactivated in air which means it is effectively dead so it can't infect from touching or fingering. It doesn't matter if you and they were bleeding or wet at the time either because it is effectively dead.
Only adult risks are unprotected penetrating vaginal or anal sex or sharing needles that you inject with but you didn't do that so you had no risk.
Even with blood, lactation cuts, rashes, burns etc air does not allow inactivated virus to infect from touching or fingering. The above HIV science is 40 years old and very well established so nothing you can add will make it a risk.