I should mention there was no penetration in her mouth
There is no risk from any of this.
Licking your testicles is no risk because the skin on your scrotum is too thick for anything to penetrate.
Licking your penis is no risk because most things reside in the throat, not the tongue, and it was so brief that nothing would have transmitted anyway.
There is no risk from rubbing on the breasts.
I can't help you with your guilt and anxiety for going outside your relationship, but remember that guilt doesn't equal risk.
There is no need to test, no need to worry. There are no "what if" scenarios that your brain will make up that will change any of this.