If you are sure that your urethra was protected during sexual intercourse and the condom fell of during ejection, there is no risk.
Since you were in an inebriated state, if you had a doubt whether the condom was used correctly - your urethra was exposed to unprotected penetrations just take a test at 4 weeks with a IV Gen HIV test for your peace of mind, it's very unlikely that you had unprotected penetrations since CSWs would also want to protect themselves and ensure usage of condom for their own safety.
I personally don't think there is anything for you to worry.
Only the head needs protection, and only you can figure if that happened. Touching hiv is not a risk because it is dead in air so the head only needs protection while in the vagina.