Is This Considered Sexual Assault.

Location: California
I am unsure of the flair to use, and if this post is not allowed here could you please direct me to a subreddit that could help me?
When I was younger, about 6 or 7, a family member would grind against my private area fully clothed and touch me, they were also young, 7 or 8 years older I believe so they could have been anywhere from 13 to 15 if I do the math right, they would offer to babysit me so that we were alone together and then do it.
I can't remember ever saying no or expressing that I didn't want that, I do not remember ever objecting, I would go as far as to say that I was willing, while I can't remember exactly I have reason to believe that I'd been sexually assaulted before that point by someone completely different which I think may have been the reason for me not objecting.
I just wanna know, I don't actually plan on saying anything about it because my memory around that time is kinda fuzzy so even though the memories are vivid, I cannot be sure that it 100% matter of factly happened.
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