Is It Necessary To Get Tested Or Vaccinated For Rabies Over 5 Years After Possible Contact With A Bat, Even Without A Known Bite?

More then 5 years ago I had brush with a bat, I m almost positive I was not bitten I m not even sure if it was the bat or my cat that brushed against me but due to the rumor/fact that rabies can last dormant in the body for a long time I am unsure if I should get examined and potentially get the injections for something I my not have to even worry about