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pain after filling

Last week I got a filling in one of my teeth (technically between two teeth) and during the procedure I could feel the drilling but discounted that to the fact that the dentist hadnt waited that long after numbing me to start; furthermore, when I consume cold liquids now I can feel it inside the tooth but otherwise I feel no pain. Should I assume that a nerve is exposed and I need a root canal and how long can I wait before getting one if this is the case (I just recently got one in a different tooth and honestly have no plans of going near a dentist again for quite a while). Thanks for your help!