Logic cannot tell you your both clear if you haven't been tested! Like I said, most of these nasty bugs can lie dormant for a long time.... and sometimes they don't pass on to someone... but seriously, just because it could have been transmitted already (assuming there could be something) by saliva does not mean you should not use condoms for any kind of sex. Blood, vaginal secretions, and semen are the most dangerous fluids to swap for any kind of STD or STI, saliva is the least of the worries. There's always a chance... even though it's unlikely either of you has anything. It's also unlikely that when I'm backing out of my driveway that I'll need my seatbelt, but you never know, someone might come out of the blue and T-bone my truck, so I've always got my seatbelt on before my truck is in gear... if that makes sense.. you know, just because driving (or oral, anal, or vaginal sex) is more likely to get me into an accident than backing out (kissing or making out) doesn't mean I shouldn't be as careful as possible at all times. Although by driving, or having sex, I always assume the possibility of injury, but I enjoy both very much.
But honestly, it is unlikely either of you has any STD or STI... but do you want to take the chance?