Nothing to regret and your brain worked perfectly.
You had zero risk so you don't need to test.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect outside the body, otherwise all of America would be infected from touching, spitting or kissing the wrong person. So those are 2 reasons you had zero risk. Double zero risk. Even oral sex is not a risk because of this and it doesn't matter if you and she are bleeding at the time and blood drips because it is effectively dead.
Only adult risks are unprotected penetrating vaginal or anal sex or sharing needles that you inject with. Even with blood, lactation cuts, rashes, burns etc saliva and air do not allow inactivated virus to infect from what you did. The above HIV science is 40 years old and very well established so nothing you can add will make it a risk.
Dear friend,
Since the intercourse was protected, you are protected too. Put it out of your mind. The problem would be if there was no condom during the intercourse