Overall, it sounds like your risk is fairly low, but I would not say 0.
The risk of HIV would be extremely low.
But if the prostitute had chlamydia, gonorrhea, syphilis, or herpes, slippage of the condom for a brief period would place you at some risk. I would say low still since the exposure sounds to have been extremely brief, but of course I could not say 0.
Of course to be sure, it would be reasonable to be tested- including testing for chlamydia, gonorrhea, syphilis and HIV- with HIV testing repeated at 1 and 3 months post exposure.
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You can be tested for gonorrhea and chlamydia within a couple days.
HIV testing usually would entail a "baseline" test to verify your status from before this exposure. It takes a couple weeks for the antibody test to be postive , on the highly unlikely chance you were infected, so we usually advise testing at 1 and 3 months ( in addition to a baseline test).