Is HIV Transmission Possible Through Protected Vaginal Intercourse?

Question : Hi Doctor, this is a follow up to a question I posted about a month ago. I wanted to ask you about an encounter I had with a call girl in the USA, which is where I live. This is everything that happened. My penis was limp at first with the condom on, and I could not get penetration. But after it became erect, that is when we had vaginal intercourse. It lasted no more than five minutes. To tell you the truth, I never had an orgasm. I remember the head of my penis was covered when I pulled out my penis. The condom seemed in tact because I visually inspected it after our encounter.

Around 9 days and six hours post exposure, I took the Aptima RNA Qualitative HIV test. The results came back negative. I was told by the lab that the test is highly reliable and considered conclusive at 9-11 days post exposure. I even called two other labs that give the RNA test, and they told me the test is very accurate at 9 days and is about or higher than 99% accurate. A couple of them even stated that at seven days post exposure, the RNA test is already good enough to rule out HIV infection. So I'm thinking that I can accept this negative test result to mean that I am not affected with HIV and can move on with my life. However, I wanted your opinion on the matter. There seems to be a lot of differing information about the RNA HIV test on the internet. Given my risk level with the described encounter and my negative RNA test result, can I allay a fear of HIV infection and move on with my life?

Thank you very much doctor.