You should always assume there is a risk when you have any kind of unprotected sex. It is totally your choice whether or not you should get tested. If you go now, you will not get conclusive results. If you do not get symptoms, you are probably in the clear. BUT that is no guarantee either.
You should talk to her about her status. Maybe she has been tested recently. You never know until you talk about it. If not, then it wouldn't hurt for the both of you to get tested together so you know your status.