Your situation involves personal contact with an object in air ( vagina, fluids etc. which is not a risk for hiv.) No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
There is no reason for a person to test when they are safe, so move on back to your happy life.
I agree. This is not a risk. The only risks for HIV are unprotected vaginal or anal sex, or sharing IV drug needles. If you touched blood, and touched your penis with it, you would not expose yourself to the virus. It doesn't work that way.