Hi Salim!
Welcome to icliniq!
Following are the answers to your queries:
1) HIV can not be transmitted just by touching of HIV infected person.
2) Firstly you don't require PEP in this scenario. Just to add, PEP has to be started immediately, as early as possible, with in 72 hours.
3) Regarding getting a test, there is no harm in knowing your baseline HIV status.
4) It is always advisable to wear safety belts while driving
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