I see no medical need for testing before you have unprotected contact with your regular partner. EWH
Based on your assessment would it be safe to have unprotected sex with my significant other or should I get tested. I personally put the condom on and took it off afterwards.
Welcome to the Forum. People who use condoms incorrectly or have condoms break during usage sometimes get STDs but if you put your condom on before starting to have sex, kept it on throughout the exposure, and it did not break ( and when condoms break, it is obvious), then your condom worked and you are at next to no risk for STD or HIV. Further if you have not and do not develop symptoms, I would not worry.
If the concern is nagging at you and you need the peace of mind you can pursue testing but from what you say there is no medical indication for testing. I hope this clarifies things. EWH