It is not wise to have a consensus of an internet forum to decide whether you need a PEP. It is a matter that a qualified professional decides based on fair assessment of your situation.
Usually, for a male partner, in a single episode of vaginal intercourse event, PEP is not recommended unless it is known to be with a positive partner.
It is not difficult for us to guess that you are anxious about this event and your assumption is extreme. A pragmatic approach to this situation is, people have sex all the time without being worried about HIV because not everyone around is HIV positive. Take it easy, there seems to be no conspiracy or a derogatory intent by your partner, she was probably just having fun.
Let's us hypothetically consider her to be positive for a moment, even in that case you risk was low since it has been observed, it takes multiple such exposures for the virus to be transmitted as it is relatively difficult in a female to male transmission scenario.
The soonest you can test is at 28 days with a IV / V generation of HIV test for a conclusive result. I foresee a negative.
Sometimes I guess we can lose our head in the heat of the moment. But obviously, unprotected sex isn't the best. The statistics though are very low. Less than 2 percent from a one time encounter. You seem unsure if she is a sex worker or not. The way to know is IF she asked you for money? That's the defining moment. If she didn't or didn't expect a tip or whatever, then I'd be less inclined to think she was a csw. However, she's a stranger that is promiscuous. The ways that adults have the potential to get HIV are unprotected vaginal or anal sex or sharing IV drug needles. The actual statistical risk is small but still there. I would not personally go on PEP but that is between you and your doctor. But you do need to test at 28 days or beyond with a 4th generation hiv test. I expect it to be negative but you did have a risk, unfortunately.