You had zero risk so you don't need to test.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect outside the body, otherwise all of America would be infected from touching or kissing the wrong person. So those are 2 reasons you had zero risk. Double zero risk. Even oral sex is not a risk because of this and it doesn't matter if you and someone else are bleeding at the time and blood drips when you kiss because it is effectively dead.
Only adult risks are unprotected penetrating vaginal or anal sex or sharing needles that you inject with. Even with blood, lactation cuts, rashes, burns etc saliva and air do not allow inactivated virus to infect from kissing. The above HIV science is 40 years old and very well established so nothing you can add will make it a risk.