Your situation involves personal contact with an object in air ( food, maybe blood or fluids from people's cuts spit, etc.). No hiv 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. The advice took into consideration that the other person might be positive, so move on and enjoy life instead of thinking about this non-event. hiv prevention is straightforward since there are only 3 ways you can become infected, so next time you wonder if you had a risk, ask yourself this QUESTION. "Did I do any of the 3?" Then after you say "No, I didn't" you will know that it's time to move on back to your happy life.
You have never read of anyone getting hiv this way because it doesn't happen. Move on.
HIV is an STI. Most HIV infection occurs due to unprotected vaginal or anal intercourse. The only way of transmission apart from the above mentioned events are through sharing needles to inject drugs with infected individual (s).
Your fears are irrational and it doesn't warrant an HIV test, please see a therapist, if you are always worried about such fears. HIV is not your concern.
You've been answered that this is irrational fear. You can NOT EAT hiv. The ways in which HIV are transmitted have been explained. NO RISK from a hamburger container.