afraid that I may contract HIV from the massage parlor...

Hello, I am a 24 years old male,I went to a massage parlor for several times recently. The sex workers(ladies) there provide some sexual services for me. I am very afraid that I may contract HIV from them.
They mainly do hand jobs. The prostitutes usualy masturbate me until I ejaculate. But we also do some other erotic (sexual) activies, such as kissing, licking body, touching,sucking nipples and ears(very short time) and body rub. I try to recall everything we did and I don't know if this is all the information you need to make a judge on my risk. There is one thing that I am very sure: I do not have any penetration sex or oral sex with these sex workers.( I think they don't even take off their underwear.) Is this enough to make a conclusion? is it possible that I contract HIV from these sex workers? I hope you can give me some advice on this matter. I developped some rashes on my arms and had cough recently so I am really scared these may be the symptoms for HIV. Do I need a test? it seems I can't wait for the window period...I am soooo worried about this matter.
Also the ladies in that massage parlor told me that they never do penetration sex with their customers but who knows if they lie? Would this reduce my risk for HIV? Is there anyone in the history who never do the penetration sex or oral sex get infected with HIV during sex with prostitutes?
forget to mention, I met 3 sex workers and the total number of erotic(sexual) service is 6 or 7.

In my case, do I need a test or can I just move on with my life with no worry?
Thank you very much!!