Small single sore on gential(genital), could it be herpes?

Hello I am a 26 year old male. About a week and a half ago I had unprotected genital rubbing/contact with a CSW in the Red light district in Amsterdam. Only a couple seconds of contact but I was very drunk and my judgment was clouded. I didn't even think to use a condom but the working lady asked me to put on on before sex. Which I put on before intercourse. A few days after the incident I noticed a very small almost unnoticeable sore right next to my urethra opening on the tip of my penis. Thereafter I felt a slight burning sensation on my genitals. It doesn't hurt to urinate but more like a slight sensation and I have no discharge but I notice I have to urinate alot more often. The sore is almost invisible to the eye now and I only have slight sensation from it. Also yesterday I have had the feeling of needing to urinate but when I try to go nothing happens and tingling sensation in my feet. Could that sore be a Herpes ulcer? I don't have a fever or any swelling of my lymph nodes in fact I feel pretty healthy. Does anyone know what this is and or should I go in and get tested for STDs given my brief genital to genital contact before using a condom for sex? Also I know this isn't the right forum but what are my chances of catching HIV from the rubbing?