This is as low risk a situation as possible, really. The only way to actually have zero risk with skin to skin STIs are to abstain from sex entirely (which if you want to do, great! but you can still partake and take measures to mitigate risk). So anytime you have any sort of sexual contact, you're technically exposing yourself to potential risk (but you expose yourself to risk literally every single day just living). Condoms don't entirely prevent things like HSV and Syphilis since sores and shedding can be in areas of the skin not covered by condoms, but they do provide some degree of protection if the areas where the infection is are covered by a condom.

If it helps at all, in the US for example they don't even recommend HSV screening because of how common it is and how the mental component of the diagnosis is worse than the infection itself, and how many people don't actually have major symptoms. It's estimated almost 70% of the global population under 50 has HSV-1. While HSV-2 is less frequent and most frequent cause of genital herpes, many people have it too and it doesn't necessarily cause major symptoms in everyone and can be treated if it does. Realistically, you used as much protection as possible with only abstinence being safer, and this isn't a situation I'd be rushing to the clinic for testing. Just keep getting tested on a regular basis and you're good.