I'm not able to say whether you acquired HPV on these occasions.
There is much more information on HPV on our HPV page.
Have a look at that page.
The majority of the sexually active population in any country will have been exposed to HPV - approximately 90 % or more. Consequently it is likely you have been exposed to it but whether it will have caused you a problem or not is uncertain.
From your description, you will not have been exposed to HIV.
You do not need an HIV RNA PCR test. You were not exposed to HIV.
Any sexual activity with another that involves any sort of touchind will yield a possbile exposure to HPV.
You can minimise it to a degree by using condoms for penetrative sex and also by not smoking. Smokers have a much higher rate of active HPV than non smokers.
You can be immunised against HPV - you can use the quadrivalent vaccine Gardasil which will protect you against HPV subtypes 6, 11, 16 and 18 or the bivalent vaccine Cervarix which will protect you against HPV subtypes 16 and 18.
You can view company data for Gardasil and Cervarix for more information.
You can view data on the HPV Vaccines and why vaccination is helpful on the CDC site.