Good day, i was in contact on sunday ( 19/07/2020) with someone who tested positive. we drove in the same car for about an hour. i don't have symptoms but is necessary to go for a test? is there a window period with regard to testing?

COVID19 Asymptomatic: Individuals with exposure to COVID-19 positive patients should remain home and self quarantine for at least 14 days from most recent exposure. Higher risk exposures involve close contact (less than 6 feet) for over 15 minutes. These exposed individuals should self-monitor for symptoms and perform twice daily temperature checks. If symptoms develop then will need to isolate and obtain testing.