Yes you should be tested. The odds of contracting HIV in the manner you described are very slim (i.e. 1 in 1000 at best). However, if she had any other STD's such as gonnorhea or chlamydia it is more likely you possibly could have caught one of those.
Keep in mind that STD's are not immediately detectable and could take a few days to show up on a test.
Even if you don't experience symptoms get tested. About half of men have no symptoms with chlamydia.
Bottom line, EXTREMELY if not almost unheard of of someone contracting HIV from the scenario you described, other STD's, much more likely.
Keep us posted.
Should you test for HIV and STDs.? Yes.