Welcome back to the forum.
In response to your question two years ago, I reminded you that STD transmission requires a bare penis (no condom) to be inserted into another person's vagina, rectum, or mouth; and that fingering or other hand-genital contact never result in STD. In addition, the contact you describe is especially low-risk, because saliva is rarely infected (It actually kills many bacteria and viruses).
Therefore, this was a risk-free exposure for all STDs, including HIV. You need not worry at all, do not need testing, and if you have a regular partner, you can safely continue unprotected sex without fear of transmission of any infection from this event.
Regards-- HHH, MD
Thank you Doctor Handsfield.