First thing - guilt doesn't equal risk.
You aren't at risk for gonorrhea, chlamydia, NGU, HIV, hep B - you had condom protected everything. There's no way you could have gotten those.
There is a slight risk for syphilis, herpes type 1 and 2 genitally, and HPV, but condoms significantly reduce the risk. These are transmitted by direct skin to skin contact and the condom doesn't cover all the skin. You can test for syphilis at 6 weeks, get a type specific IgG herpes blood test at 4 months if you insist on testing, and there is no HPV test for men.
A note on herpes testing - if you get no symptoms, really, really think about testing. There are a lot of false positives with herpes tests, and if this happens to you, it could send you down an anxiety and guilt spiral that could take months to get out of while you get confirmation tests. Your chances of getting herpes from a one-time protected encounter are about 1 in 10,000. If you get any sores, get seen by your provider as soon as possible and get a type specific culture or PCR swab.
Her vaginal fluid at the base of your penis means absolutely nothing.