You had no risk and a test would be a waste of time.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, rubbing 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 the following:
1. unprotected penetrating vaginal
2. unprotected penetrating anal sex
3. sharing needles that you inject with. Knowing these 3 are all you need to know to protect yourself against HIV. Your situation is a long way from any of these 3.
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, rubbing or oral activities in 40 years of HIV history, so likely no one will in the next 40 years of your life either. If it was as easy to contract as you fear we would all have it like we get colds, from infected people who cough.