If you don't develop such symptoms in the next 10 days, you can consider yourself home free.
Finally, I never recommend STD/HIV testing
after single low-risk events like this. People who are sexually active outside committed, monogamous relationships should have routine STD/HIV testing from time to time, like once a year. If you haven't been tested recently, this would be a good time, since it is on your mind. But not because of the risks associated with this particular event.