Risk of HIV

I recently had protected sex with a woman.  The condom remained on throughout intercourse.  To the best of my knowledge the condom did not break.  Some vaginal fluid got onto the lower portion of my penis that was not covered by the condom, but there were no cuts/wounds on that area of my penis shaft.  During sex, she stroked her clitoris/vagina.  Some minutes later the woman pulled off my condom and attempted to bring me to ejaculation manually (with her hands/handjob)  My penis touched her breasts, no penetration orally or vaginally without condom use.  Then as I was nearing climax, she inserted one of her fingers into my rectum.  Her finger had no cuts or sores on it to the best of my knowledge and probably was inserted 3/4 of an inch MAYBE an inch before I said no and she pulled it out.  (There was penetration for maybe 1/2 a second)  Since I do not know this person's status, what are my risks of contracting an STD, namely HIV?  Do I need to be tested?

[Teak]

You were never at risk.