Intercourse is hard to miss and only unprotected vaginal or anal intercourse results in possible transmission of HIV. Touching the area with your penis or getting vaginal secretions on your penis outside the vagina is not going to transmit HIV. Symptoms are not used to diagnose HIV. Ever.
So, you didn't have intercourse, vaginal or anal and you didn't share IV drug needles. So, you do not need to worry about HIV.