URGENT PLEASE

Hello Guys,
I am 25 M and I just had a sexual encounter with a guy (33 M). I just prefer side activities and never hooked up with a stranger. We didn’t NOT have any anal or oral sex. And we mainly kissed/made out and touched each others’ private parts. But at one point, he precummed/cummed on his hand and licked his cum. He then proceeded to kiss me (with semen/cum in his mouth) but I didn’t feel anything.

Now I am paranoid if I CAN GET HIV… he said he is clean but I don’t wanna trust strangers. Should I go to doctor in the morning for PEP HIV? He had no bleeding gums/ sores…. I have a very very tiny sore in my mouth (which is a cranker sore and not anything related to STI/STD because I had all my tests last month and I haven’t been active in 1 years).

What should I do? I am extremely scared and worried and I wanna cry.