YES. Pain upon urination is only ONE symptom out of many that is even noticeable. Why risk your health? Get tested.
In your post, what the sex worker asked you to do was starred out and looked like this...………."The girl gave me oral without a condom and proceeded to ask me to **** her without a condom." I think we all know what she asked you to do and you obliged her. The fact you did not ejaculate inside her is actually moot since you had already had unprotected, insertive vaginal sex and THAT means you had a risk for HIV. When a sex worker asks you NOT to use a condom means she doesn't care about HER health...….but far more scary than that, it means she doesn't give a damn about YOURS. You need to test. At 28 days post this exposure, have a 4th generation DUO test done. The results will be conclusive. You would do well to also get tested for other STD's so you can start with a clean slate and not pass ANYTHING on to anyone else. I also hope, for your own health, that you will use a condom EVERY time you have sex.