HIV is a fragile virus with very limited methods to infect as you will read below
You had no risk for HIV so any test would be a waste of time.
There are only 3 ways HIV can be transmitted and you didn't do any of them.
HIV is instantly inactivated in air and also in saliva which means it is effectively dead so it can't infect from touching, external rubbing or oral activities. It doesn't matter if you and they were actively bleeding or had cuts at the time either because the HIV is effectively dead.
Only 3 adult risks are the following:
1. unprotected penetrating vaginal with a penis
2. unprotected penetrating anal sex with a penis
3. sharing needles that you inject with. Knowing these 3 are all you need to know to protect yourself against HIV. The situation you describe is a long way from any of these 3.
Even with blood, lactation, cuts, rashes, burns, etc the air or the saliva does not allow inactivated virus to infect from touching, external rubbing or oral activities. The above HIV science is 40 years old and very well established. No one got HIV from what you did in 40 years of HIV history, so likely no one will in the next 40 years of your life. Doctors have calculated the risk from what you did to be less than that of being hit by a meteorite.
The csw had a condom because she doesn't want her client's HIV, but knew there was no risk doing this encounter, otherwise she wouldn't do it.