Welcome to our Forum. the exposure you describe is no risk for HIV. Use of a condom which does not break virtually eliminates any risk at all of HIV acquisition. Even if she somehow got genital secretions on a towel that she then rubbed you with, there is no risk for HIV. That you might have small cuts on your penis does not change this.
You do not need to be concerned. In fact, you have no medical reason for HIV testing. I hope this comment is helpful to you. Take care. EWH