Most definitely , in your case no testing would be conclusive .. But I certainly understand the anxiety/ guilt will consume you if you don't.
Randall
Your welcome , you could post in the Std forum for non- HIV related Sti
Your encounter had no penetration , you would not contract HIV this way. HIV is transmitted through anal or vaginal sex . Frottage and fingering are not HIV concerns. Also HIV will not survive in open air.
Based on your non- sexual encounter you wouldn't be at risk for HIV .. The virus cannot survive in open air . HIV is typically transmitted through unprotected anal and Vaginal sex or IV drug use.
I should add that my biggest concern and cause for anxiety is protecting my wife. I'm still wrestling with the guilt of cheating, especially with another dude. Although we rarely have sex these days (2-3x per year), I couldn't love with myself if I brought something home. Wish I could rewind the clock as this was so not worth it.