You did have a risk, a low level one. Until it broke the condom protected you. It was also only a single time and of short duration. HIV is not an easy virus to transmit and it is significantly harder to accomplish from female to male.
The odds against transmission having occured even IF the sex worker was HIV+ are in your favor.You can test at 6 weeks. At that point most who are going to seroconvert will have done so. you still need to re-test at 13 weeks to confirm.
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