I think you already know the answer to your question. for starters, as he is in the military, you know that he was tested for HIV and was negative. If he had HIV, he would have been discharged.. The likelihood that he acquired HIV since he was last tested that even before you consider your exposure you know that he was not infected.
Then there is your exposure. Plus/minus penetration, no ejaculation = minimal exposure. Regular intercourse carries a less than 1 in 1000 chance of infection. For you the chances, if he was infected (he was not as I said above) are far lower.
Putting all of this together- your chance of having gotten HIV from the single exposure you describe is close to zero. You are far more likely to be hit by lightening while reading this than to have gotten HIV from the exposure you describe. You can move on. There is no need for testing. EWH
Thank you for your help it makes me feel a lot better. He just joined up for the army again and was deployed to iraq for the second time just this past august. I think they test them before deployment and when they sign on again for another term.