Is it SA?

Currently having a bit of a mental breakdown/argument because I'm 100% sure this doesn't count as sa but my friends are telling it it totally is. Anyways to sun it up used to play what my caretakers son(22 at the time) would call truth or dare dirty edition (if it matters I was like 5-8 he moved when I was 8 so it stopped around then) essentially we each give truth or dare questions most of the time it he asked like have you kissed a boy do you like anyone shit like that so like innocent questions but the problem my friends seem to find is that when I chose dare he would have me so handstands( I usually wore dresses cuz my parents wanted me to be feminine or wtv) and he would ask to see my thighs or touch them a bit (never tooky clothes off) now I think it wasn't anything serious but I'm being told it was grooming n SA since I couldn't consent or wtv
but like what is there to consent to? Its not like he put it in yk? That's not sexual assault it was a game n sometimes he got a lil touchy that's all. We were all talking abt childhood games n now I kinda feel like I ruined the atmosphere by bringing it up too so I'm just wondering what others thoughts are.