Hello and welcome to HCM!
I read your story with great attention! Nowadays, condom is being used mainly to prevent Sexually Transmitted Infections (or STIs) rather than to avoid unwanted pregnany since you can play with the menstrual cycle of the woman in order to minimise the chances of
pregnancy.
Regarding your direct question, my answer would be: yes, it is possible, in theory, to be infected even from short sexual intercourse. You said that the guys pulled out very quickly, and so the chance that certain amounts of sperm could have had contact with your mucosa is small. However, the chance is not zero since you can never be sure that no amount of semen is present in the sexual organ of the male. On the other hand, the infection could be transmitted through damaged mucosa as well. If the guy's penis had been exposed to aggresive sex then there could be some damaged/scratched/reddish areas in the mucosa of their penis which increases the chances of the virus to be transmitted to the partner. The virus is found at higher levels in blood and body fluids such as semen and much lower levels are found in saliva. This is why it is highly improbable to get
HIV from kissing, even deep kissing, if the mucosa of mouth is intact.
I say your chances to have contacted HIV are really tiny, but they could not be completely ruled out. Therefore, it is always safe to get tested in order to be sure and to calm you down. An
ELISA test (new generations of ELISA test) could help you to quickly determine your status, minding the window period of at least 3-4 weeks since the last exposure to unprotected sex.
I hope the answer helped you! Best!