You indulged in unprotected penetrative sex and it certainly warrants testing, please take a test at the 12 weeks from the
date of your exposure. In case, you go through some levels of anxiety, you could also take a test at the 6th week, a 6 weeks negative changing ahead is quite unlikely. However, a test at the 12th week is necessary for conclusion.
Considering the nature of your exposure, the risks are low and the probability of you not contracting the virus is very high.