Our members have pointed out to you correctly that protected sex is not a risk for HIV. They've answered you regarding testing already as well as testing being unnecessary for something that isn't a risk. We wish you well and are closing this discussion.
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You had protected anal sex, protected. So you did not risk HIV which I'm happy about for you. You do not need to test for this sexual experience.
Take a deep breath. You used a condom, so you're fine. But here's some general advice, and then some specific advice for your situation:
First, you should always ask about HIV status BEFORE having sex. It's a good health habit to get into. You can phrase it as, "I'm STD free and HIV negative, and I was tested last December. How about you?" It's a good habit, and it will help alleviate this kind of anxiety.
Second, you can't tell someone's HIV status by how healthy they look. That leads to inaccurate judgments about someone's health and can lead to unnecessary risky behavior.
Finally, since you used a condom, you have nothing to worry about. Condoms protect from STIs. Even if you had unprotected sex (which you didn't), and even if he was HIV positive (which he probably wasn't), the odds of you contracting HIV would be about 1/150 (HIV actually doesn't transmit as easily as some other STI's).
If you're still nervous about it, my advice would be to ask him again in a more polite way. ("I'm a little nervous because I don't usually do this, and I wonder if you wouldn't mind sharing your HIV status, so I can plan either way. I was tested on this date, and I'm negative. It would take a weight off my mind if you wouldn't mind letting me know.") I wouldn't demand to see some kind of certificate or imply that he has HIV (which he probably doesn't - sex workers, especially high-end ones, are actually good at protecting their health).
I would also schedule an HIV test as part of your regular check-up (which you should do anyway), and, given the fact that you used a condom, it will certainly come back negative.
In general, ask about HIV status before sex, get tested regularly, and use a condom, and you can expect to have a fun sex life without needing to worry about HIV.
Hope that helps!