The only adult risks for HIV are:
1) Having unprotected penetrative anal or vaginal sex, OR
2) Sharing IV drug equipment with other IV drug users.
In order for HIV transmission to occur, sexually, penetration must happen. You are safe from HIV and no testing is needed. If you have questions about STDs, you can ask here: https://www.medhelp.org/forums/STDs---STIs/show/98