I was in contact with people who had covid on the 9th of this month. its the 20th now and i have no symptoms . am i in the clear ? and do i still need to do a covid test?

It depends. If you are concerned about the risk of passing this infection to others, yes, you need to be tested. If you are not vaccinated, get the vaccine.

The incubation period is up to 14 days so you're not out of the woods as yet. Ideally you should have been tested 5 days after exposure. I think you should have been self isolating from others or at least wear a mask for at least 10 days since you had no symptoms.