Welcome to the forum.
This was a no-risk event with respect to HIV and all other STDs. They cannot be transmitted by hand-genital contact, and saliva never carries HIV and rarely other STDs either. In case you are interested, I have provided the link to a recent thread that discusses the biological reasons behind this.
http://www.medhelp.org/posts/show/1861534
Those comments answer questions 1 and 2. Question 3: no testing of any kind is necessary. Question 4: you can safely continue unprotected sex with your wife, without putting her at risk of any infection.
Question 5: I would guess your penile irritation indeed is due to chafing from the hand-gential contact. The symptoms should clear up within a couple of days.
I hope this has helped. Best wishes-- HHH, MD