If you are aware of all the risks, then you already know that your event IS NOT A RISK.
One last time, the only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
If you do not engage in any of the activities I mentioned above with someone HIV+ or whose HIV status is unknown to you, you will NEVER have to worry about getting HIV. There is no information you could add about this event that would make it a risk for HIV.
Zero risk = zero test.
If engaging in these activities gives you such anxiety, you should stop doing them until you can address your anxiety. We cannot hold your hand every time you get scared.