Touching the surface of a vagina with your penis doesn't qualify as a risk. A penetration can be defined as 2 full thrusts into a vagina. Unless, that happened there no risk that can be associated with your event.
Since you have described that you deal with phobias in your general life, the remedy is to see a therapist and work with them to seek help for it.
You don't seem to be at a risk and I don't think testing os recommended.
So, you mention phobia. This is not your first go round of extreme worry? Am I to understand that you realize the ways that people get HIV? These include having unprotected vaginal or anal sex or sharing IV drug needles. Those are the only ways. So, you describe an encounter in which you were intoxicated. I'll just say that if someone believes they have a 'phobia', why would they get black out drunk and have sex? That's self defeating for your phobia and you should address that aspect thoroughly. Drinking like that is not of benefit to you. You describe protected sex. You know that is not a risk. You describe blowjob. That is also not a risk (saliva and air inactivate the virus). Transmission of HIV only takes place within the body, penetration is required. You seem unclear if you penetrated her unprotected or not. I can't speak for what you don't remember. And no one here can. That's on you to stay lucid enough to be in control. Would I take pep for this? No. That's a very hard drug to take and a one time exposure under the worst of circumstance is less than 2 percent transmission for hiv. VERY LOW. And likely, it never happened and this is all part of your phobia. So, that's my opinion.