should I test?

I’m curious if I should take a test. I started having sex (unprotected) with this guy on 1/6 but we had to stop because we were in a car and in public and almost got caught 🤦🏽‍♀️ ...Anyway he didn’t cum because we ended early but I was told you could get pregnant from pre-cum (can someone confirm the truth of this?) but I wasn’t concerned until I missed my period which I was supposed to get on 1/13.

I didnt have a period all of january but when my sister came to visit me while she was on her period I ended up getting mine on 2/1. My question is should I be concerned about pregnancy risks? should I take a test? I wasn’t ovulating when we were together and I havent had any symptoms expect the missed period so am I stressing for no reason?