Unprotected vagina is a less than one percent chance risk. So, over 99 percent chance there was no transmission. Unprotected oral sex is zero risk. A one time event is extremely low risk. I would wait until day 28 and take a 4th generation Duo test. You only need to test one time if you get a negative. It's conclusive from that day on. Also, all the other stuff you added doesn't matter. I don't care about kissing or using your hands those are no risk (only risks are unprotected vaginal or anal sex or sharing iv needles to inject drugs- air and saliva inactivate the virus). trouble penetrating so it wasn't a lot, just even less than 1 percent risk.
If you have a regular partner, wear a condom until 28 day testing.
I also wanted to add that I was a bit too big for her, so there was very little full penetration. We mostly kissed, I stimulated her with my hands etc.