The HR manager from my job called and left a message regarding a medical appointment of mine on the voicemail of another person who is not a contact/listed as a contact of mine. The other person is someone I know, but not a contact. Immediately after she did this, she called my phone and spoke to me, not mentioning anything regarding the message she left on the other phone. Did she violate/break any hipaa laws by doing so?

No, this law regards what medical professions do, when giving out medical information.

The HR manager is not a medical professional, and this was merely a doctors appointment, plus it was called in error,

If she did not mention the message, how did you know it happened ?
Does it matter that they know of a doctors apointment, if you are out of work, they would know when it happened

No. HIPAA covers medical practitioners from revealing info about diagnoses or treatment being given to a patient to an unauthorized third party. Your HR person is not a medical provider and leaving info about just an appointment doesn't qualify.

Agree with above. Why not clear the air with her?
There is a common misconception that employers must keep medical info from other employees by law. This is not true unless it's company policy. If fact, more and more liability insurers are demanding that various medical conditions be known by everyone in the company, because of risk to them. Risks might be from contagion, lack of awareness of delicate condition, violence from psych problems, metal in the body, injuries that could affect others, and probably others.