Thank you Doctor. I was just not able to get this out of my mind. I feel better now.
Welcome to the forum.
There is no signficant likelihood of HIV transmission in this circumstance. Even entirely unprotected vaginal sex, lasting for several minutes, carries an average female to male transmission risk around 1 in 2,000 -- and that's only if the woman is infected, and the vast majority of strippers are not. This was a zero risk exposure and you do not need HIV testing.
Regards-- HHH, MD