In an adult, only unprotected anal or vaginal sex and sharing IV drug needles with infected users could result in HIV. Nothing else, including what you've described here, is a risk for HIV.
This, as you are told accurately by Chima is not a risk for HIV in any way. Licking nipples is not a risk whether he had syphilis or not. Kissing is not a risk either. The only ways adults get HIV is from unprotected vaginal or anal sex or sharing IV drug needles. Transmission takes place inside the body and air and saliva inactivate it. This is zero risk for HIV and you do not need to test. No symptoms you have could be related to HIV as you had no risk for HIV, so don't have HIV
Please read the initial response the list of transmission routes are provided. You don't have an HIV concern, you should move on.