You can't get hiv when you used condom because only the head needs protection and that happened otherwise it would have fallen off. hiv is effectively dead in air so only sex risks are unprotected penetrating vaginal or anal. You are safe to move on from hiv. no exposure = no reason to test.
At this point in time, I would avoid encounters with people you don't live with because of the 100% risk of you contracting or spreading Covid (if one of you two was positive) in which case you might also spread it to your loved ones.
Since neither of you were social distancing, I hope you check out this forum for information on why you should be doing that 100% of the time today. https://www.medhelp.org/forums/Coronavirus/show/2203
Your health is your wealth, so I hope you remain healthy to be able to enjoy life. Many infected Covid patients including young people are under the misunderstanding that they have zero risk from Covid, but will discover that not all of them will be spared permanent lung and related heart issues in which case they have lost that wealth forever.