Based on what you’ve told us, the recommendation would be to test now, as you have had sex without using condoms since your last test and don’t know the HIV status of the person/people you had sex with.
It may be useful for you to consider using PrEP, a medication which stops you getting HIV. You can find out more about PrEP and how to access it.
It is recommended that gay, bisexual and other men who have sex with men, their female sexual partners, people who inject drugs and sex workers test for HIV at least once every year, as they are the groups most affected by HIV. For those in these groups who have anal sex without condoms and/or use drugs during sex the recommendation is to test more frequently, usually every three months.
For other people outside of these groups, once tested for HIV and aware of their HIV status, testing again for HIV is recommended if they have had anal and/or vaginal/frontal sex without using condoms or notice symptoms or illnesses that could indicate HIV.