There's no test without symptoms readily available. I have read clinical studies with oral RNA rinses and bloodwork, but they are not available to the public. The only tests that exist, really, are biopsies/swabbings of tumors/lesions, pap smears, colonoscopies, and visual inspection. I guess a scope down the throat too, and mammogram/physical inspection for the breast cancer. You can't really worry about it, just get tested every year or two or if you experience odd pains. There haven't been any studies, but the last time I talked to a doctor about it (who actually knew something, unlike other doctors I asked... because he says he is ALL THE TIME removing tumors and lesions from people), we both agreed that there's no reason that even kissing shouldn't transmit it.
There isn't a such thing as safe sex, pretty much everyone carries hpv and epstein-barr (another cancer causing virus... it's what triggers mono sometimes. Everybody has antibodies or an infection), and when I discussed testing the last time, I was told that often STD tests don't even bother checking for cold sores because they're so prevalent. I know I was shocked to test positive, considering I can't recall in my life ever having one, and I've been lasered in the mouth area 20 times*, along with hours of electrolysis. (... and I've been lasered in other areas, thank you, with no signs there, either.) Of course, it's better to wind up with a presumably oral infection of HSV-1, makes you more resistant to catching it in more...sensitive areas. Like the nerve bundle that runs nipple to armpit. How much would it suck to have herpes of the breast and armpit? And I believe an hsv1 infection helps offer some protection against hsv2, actual "herpes."
If you have the money to pay out of pocket, get the gardasil. Studies are showing it continues to help... as if that were really ever a question.
There are over 200 strains. Only 4 of them cause cancer and the two gardasil protects against make up the vast, overwhelming majority. Are you probably already exposed? Yeah but whatever I probably am, everyone except the asexual virgins here probably are. Plus it does protect against the 'not fatal except to your sex life' warts.
Most people just really don't have a clue about STDs. AIDS is thought of as the big killer. Only in 3rd world countries. In the USA, it's incredibly treatable. They are even beginning to test pre-dosing high risk people with retrovirals to prevent AIDS infection to begin with. Which would presumably also help against other diseases. Hep C, according to my physician, is a much larger danger and no one gives a ->-bleeped-<- when they should.
With how active my friends are, it's kind of a miracle they're not in worse shape than they - oh wait a lot of them don't get tested. Ugh. Of course, without healthcare, it costs hundreds of dollars to get tested here generally.
*Laser/electrolysis often causes breakouts, valtrex is often prescribed for patients who 'get' outbreaks.