Is Penile Burning Sensation While Washing It With Disinfectant After Intercourse With A Sex Worker A Sign Of Some Infection?

I just had sex with a sex worker. I used condom properly. I didn t see any break. After sex I used normal soap to wash my penis, after like a few seconds I used dettol liquid soap to wash my penis and it felt like it was burning, especially more on my balls area. I rinsed with water after. Should I be scared of HIV having using a condom but used an antiseptic to wash off.