Was unsure about this experience as a whole

Hi, I was just wondering if this fits the criteria of sexual assault to an extent or just non-verbal communication in this situation. I went to a gay cruising spot out of curiosity and I did end up doing some stuff there. The first guy it was fine, nothing really went wrong, I said no when I didn't want something and everything went fine. The second guy was a bit iffy since I saw him do something naughty and I was curious, and admittedly wanted to check on him. When I approached him, he was touching himself (sorry) and when he saw me, he touched my junk as I approached. I did partially have an issue with him not saying anything about wanting to touch my junk, but I did still approach and asked him I wanted to touch his and he said yes. A part of me wanted to say no or say something regarding it, but I felt like something should have been said, but a partial bit of me (not 100% on this feeling) wanted to see where it goes. I'm After a short bit, took a short break, and continued. He did touch my butt but I said no and he did back off. I also touched his butt back but he said nothing regarding it. We continued with ourselves and then shortly again, I allowed him to touch me (not verbally, but by showing him which this is non-verbal consent right?) and he did the same (sorry again). After finishing and I did tell him "thank you", but I did feel somewhat guilty for letting myself to get to that position and was wondering why I felt so iffy about it. I wasn't forced to do it, I approached on my own volition Maybe because I didn't want this to be my first same sex experience. I'm super sorry for the tmi, but I was wondering if this means anything?