HIV/AIDS remains a significant public health issue in Tanzania, particularly affecting rural communities where access to testing services is limited. A mixed-methods approach was employed, including quantitative surveys and qualitative interviews with CHWs and community members. Data were analysed using descriptive statistics and thematic analysis. CHW programmes significantly increased HIV testing access by 45% in villages compared to non-participating areas (p < 0.01). Community health worker programmes effectively enhance HIV/AIDS testing accessibility, particularly through improved community engagement and trust-building strategies. Communities should be involved in programme design and implementation to ensure sustainability and effectiveness. Treatment effect was estimated with $\text{logit}(p_i)=\beta_0+\beta^\top X_i$, and uncertainty reported using confidence-interval based inference.