Only sex risks for HIV are unprotected penetrating vaginal or anal which you didn't have. No risk=no disease=no reason to be on something like PEP.
If a condom fails it is a large rip down the seam and it hangs in tatters so both people would quickly be very aware of it. There is no need for messy water pressure tests.
Only the urethra needs protection which is what happened in your case, and you can't get HIV when you use a condom because it doesn't enter through cuts or any form of oral activities during sex.
It is a fragile virus so has only a few limited possibilities to be transmitted from one person to another. Oral activities or touching are not a risk for HIV so you need a new doctor. PEP is serious medication so perhaps he put you on it as a placebo to get you out of his office, which is a terrible idea.