I fucked a grindr hookup without condom for less than two minutes, it seemed very clean, should I be worried? Should I get tested?

So, we met and started doing it, I wear my condom, it was feeling very nice and intense then he really wanted to feel my cock and I was really really horny, he had a great ass so I removed my condom and penetrated him like that for a bit, less than two minutes, he came very quickly after that. It seemed very clean and there were no cuts, bruises or anything.He told me he's in a long term relationship but they never have sex or very rarely and never hooks up and that's why he took advantage of coming to visit his family for holidays and try to find a grindr hookup since he would be away from his boyfriend. He told me he got tested not long ago and he's totally clean and he is monogamous.He seemed very healthy, hygienic, clean and responsible but I know it means nothing. Now don't get me wrong, I am 100% pro condom and this is the first time I do this kind of thing, I feel stupid. But then, I just penetrated him a little bit, everything seems to be ok but please tell me, do you think I should be worried? I know that if I want to be sure I should get tested.