You didn't mentioned any thing today that could put you at a risk for HIV contraction.
1. You are being paranoid for thinking that your partner was HIV positive at the first place, CSWs are quite particular about their own safety.
2. Assuming that she was HIV positive; kissing, even with a root canal that was done recently was not a risk since there was saliva involved and it has proteins that inhibits the virus.
3. Frottage wasn't a risk either since at no point you were penetrating with out condom inside of her vagina or anus which is essential for HIV transmission. Rubbing of your penis on her skin surface isn't a risk despite of infected fluid being present. Infected fluid can't infect once it is outside of body.
You didn't posses any risk from this incident, you didn't need to test.