Personally, I wouldn't get PEP unless I considered the client to be high risk, and I don't see anyone from sub-Saharan Africa for exactly that reason. The chance of getting HIV from one episode of unprotected vaginal intercourse is pretty low unless you have any other health risks, or e.g. were fingered roughly just beforehand and may thus have some nicks.
I don't do anal, but I might be more inclined to consider PEP if a condom broke during that, especially if the client ejaculated inside.