You have been advised that your risk was extremely low, even if there was some penetration. There is nothing further for our members to say about this event.
********* THREAD CLOSED *********
It is extraordinarily unlikely that you would get HIV from such brief penetration, if it happened at all. If you want to test, take a 4th or 5th generation test at 28 days, but the risk is so astronomically low that I wouldn't bother if it were me.