Risks for HIV are:
1) Having unprotected, penetrative anal or vaginal sex, or
2) Sharing intravenous needles.
NOTHING else you can think of is a risk for HIV. There is no detail you could add to this event to make it a risk for HIV. You don't need any testing and you absolutely do not need PEP since you had no risk.
How in the earth did your doctor recommend you PEP for a total no risk scenario?
I choose not to believe your story, either you lied to your doctor about your exposure or you are just making this whole thing up here.
I completed pep course on aug 13. 28 days of truvada and tivicay. The anxiety reduced a little now and I can sleep a bit at night. Still worried a bit because a week after finishing pep, on aug 19, my right thigh and knee started hurting when walking.
Also I forgot to add this detail. One week after the incident (i am uncircumcised), my foreskin and glans had redness. I tried clotrimazole and now when water comes in contact, its swelling but redness is still there. Can you tell me if its a symptom.