It sounds like the past couple years you have been at low risk- condoms are very effective when used properly, and so that contact you had 2 years ago is likely low risk.
Of course if you had unprotected sex with anyone else even before that, there is a risk of transmission.
Some people can be infected with HIV for many years without any symptoms, so any unprotected sex you have had, not just in the past couple years, is potentially at risk. On average it takes people 5-10 years to develop symptoms of advanced disease, but there is a range- some get severe symptoms soon after infection, some may not have any symptoms for over 10 years even.
Overall it sounds like you likely are low risk, but the only way to know for sure, and to reassure yourself is to just be tested.
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