No risk at all. You do not need HIV testing.
Thanks, Teak. One last question: There is a chance that I touched myself repeatedly after I fingered her, and vaginal secretions on my hand would have therefore touched the head of my penis. Does this increase the risk? I am uncircumcised. Would being uncircumcised make the risk greater, thus needing to be tested? Or, again, no risk whatsoever?
HIV is unable to reproduce outside its living host (unlike many bacteria or fungi, which may do so under suitable conditions), except under laboratory conditions; therefore, it does not spread or maintain infectiousness outside its host.
No risk what so ever.