No, zero risk for anything, none at all. Also, nurses don't forget to wash their hands - that would be totally unprofessional. But even so, just touching a needle isn't a risk.
As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
You had NO RISK for HIV and you do not need to test.