Is it possible to contract HIV with no penetration?

[concerned123sd]

About a year ago i attempted to have sex with a guy he was super drunk at one point put a condom on but went flaccid (whisky dick) we attempted a couple times to get him up and in and i was so drunk i'm not sure if the condom slipped off or not but he (still flaccid) bumped the outer part of me a couple of times attempting to get hard but was never really inside me, we both gave up. Is it possible to contract HIV this way? Sorry for the bluntness I just want to make sure all the info is put out there to understand. I'm assuming he didn't have HIV but you never know. Also the next day I went to the emergency room bc i was so drunk the night before( i never drink) that i felt awful and went to get the iv hooked in. i know they took blood and pee but i'm not sure if they tested for hiv? Is it possible they did? This is in nyc btw.
Thanks hope you can help.

[RubyWitch]

If there was no unprotected insetive anal sex, there was NO RISK and you do NOT need to test. Bumping against your anus is NOT insertive sex.

You went to the ER with a HANG-OVER? Seriously? And they actually treat people for that back there? That's amazing.

A blood draw and urine sample are pretty routine in the ER. And they would NOT check for HIV unless you requested it. It's a totally separate test from a standard CBC.