You had no risk so testing would be a waste of time. Did you accidentally put a question mark in your first sentence?
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, external 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 3 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, external rubbing or oral activities. The above HIV science is 40 years old and very well established so there is no detail that you can add that will make your encounter a risk for HIV. No one got HIV from the situation you encountered in 40 years and likely no one will in the next 40 of your life, so there in no more likelihood of HIV transmission happening than of you getting hit by a meteor as you read this.