It sounds like you are concerned about a wound coming into contact with an object that was in contact with another person's bodily fluids two minutes before. First, we must remember there is a lot of misinformation about how HIV is transmitted. HIV is not expected to live for long at all, making environmental transmission outside the body virtually non-existent. This means HIV cannot be transmitted through contact with everyday surfaces- more about that here: https://h-i-v.net/myths-misconceptions. I'm not sure if there's an exact time period for that, but anyone at a HIV testing clinic would be able to access any risk if your colleague is living with HIV and you are not sure. I will say a pin like you describe is different from intravenous needles.
That being said, the Centers for Disease Control and Prevention in the United States actually encourages everyone between the ages of 13 and 64 to have at least one HIV test (more here: https://h-i-v.net/diagnosis-testing ), so if you've never been tested it might be a good thing to add to your typical medical care. I have heard from others that testing is less overwhelming and that the testing personnel is more supportive than they thought they might be.