Talk to Infectious Diseases on Rabies Vaccine Needed?

Exactly 10 years ago, I was bitten by a stray cat, it appeared well. Cat's canine teeth punctured my hand. A ER doctor told me that time that there's no need for rabies PEP. I only got Tetanus vaccine. Now I realise that it was a big mistake. I have come across few articles saying that rabies can go into incubation for years and even documenting rare cases after 20 years post bite. I am confused if I should get the rabies 4 shot vaccine now, or is this fear purely psychological?