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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