The only risk from kissing is oral hsv1, which 67% of the population under 50 has globally. An escort, trans or not, has no higher risk than anyone else for this. A quick kiss isn't likely to transmit this, if you don't already have it. 90% of those who have it never get symptoms. I wouldn't worry at all about this if I were you.
Your genitals brushing against each other isn't really a risk. A brief touch won't transmit anything, either. It takes some heavy grinding or rubbing to transmit STIs.
There may be a slight risk from the unprotected oral. Unprotected oral can transmit syphilis, hsv1 (if you don't already have it, and gonorrhea and chlamydia. Oral sex is lower risk than vaginal or anal sex, and a few seconds of oral sex doesn't really warrant testing. Most experts don't think that one act of oral sex, even to completion, warrants testing without symptoms.
You had protected anal sex, for a few seconds, so there isn't a risk there.
There's no risk for HIV, and you didn't need to go on PEP.
Your anxiety is way out of proportion for the risk. If anxiety is normally this high, talk to your doctor. The foundation and a doctor both told you that you had little risk, if any, and that should have been enough, yet here you are, asking again. I'd guess your anxiety is a bigger problem for you than any STI or HIV risk.