Your situation involves personal contact with an object in air (her hands, cuts, mouth, lips, saliva, etc. which is not a risk for hiv.) No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
There is no reason for a person to test when they are safe. The advice took into consideration that the other person might be positive, so move on and enjoy life instead of thinking about this non-event. Next time you wonder if you had a risk, ask yourself if you did any of the 3, then after you say "Nope, I didn't" then it's time to move on back to your happy life.
The masseuse knows there is no risk of hiv which is why she did it. If you had vaginal she would have made you use a condom.
When the vaginal rubbing on my penis, i feel like it didn't go inside as i was pretty sure it did not. But I'm not exactly sure because what if it goes inside without me knowing. Btw this happened 9 sept 2020 and the unprotected oral sex last year. So what test should i get and when?
You would know if it went inside. She wouldn't let you go inside without a condom and if you did she would have told you to stop.
You said you are pretty sure it didn't go inside now, and before you said it just rubbed outside. Therefore it didn't go inside, so you had no risk and need to move on from imagining something happened which didn't.