You couldn't have acquired an STD from those exposures. No STD can be transmitted through a condom and hand-to-genital exposure is entirely risk-free. You're "concern" is far-fetched and unrealistic. Finally, no STD causes a "slight tingle" as the only symptom. But it a common symptom of genitally-focused anxiety.
You do not need testing unless you are otherwise at risk. People who are sexually active outside committed, monogamous relationships ought to be tested for HIV and other STDs from time to time, like every year or two, depending on the frequency of contact and number of partners. If you have otherwise been sexually active and not tested recently, this might be a good time, since it's on your mind. But this has nothing to do with the event you describe.
Regards-- HHH, MD