No risk.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching or oral activities. It doesn't matter if you and they were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only adult risks are unprotected penetrating vaginal or anal sex or sharing needles that you inject with. This sentence is all you need to know to protect yourself against HIV.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching or oral activities. The above HIV science is 40 years old and very well established.
No one got HIV from touching or oral activities in 40 years of HIV history, so likely no one will in the next 40 years of your life either.
An HIV test would be a waste of time.