Since there was no oral sex or penetration, you had no risk for HIV or STD's.
it does not matter what any body tells you , i think you should follow the protocol and get tested , that is the only right peace of mind you are looking for , analyzing statistics or symptoms means nothing, the only real way to be sure that some one is hive free is to get tested , some say 4 weeks , other 6 weeks , until now the cdc states 90 days or 12 weeks , after that , you are certain you are hive free , that is my humbled opinion