You really have nothing to worry about. Before we even begin to address (and discount) the risks, if she had HIV, please realize the vast majority of strippers, even if they are also commercial sex workers, do not have HIV. Now, on to the risks.
Then encounter you describe can be distilled into being rubbed by her breasts which, obviously is no risk at all, and the fact that she kissed (perhaps roughly) your nipples where you tend to have an eczematous rash. This too is no risk, even with the possibility of cracked skin due to eczema. Even in the very rare circumstance that she had HIV, the amount of HIV present in saliva is very, very low and the probability of it getting from her saliva to enter your body and cause infection is likewise miniscule.
You have nothing to worry about. You have no reason for concern, medical reason for testing based on this exposure, and need not worry about contact with your GF.
Hope this helps. EWH