Additional trigger warning for minors!!!

When I was a kid (maybe 5 or 6) I was friends with this kid named J (also around 5/6). (He is assigned male at birth and I am assigned female at birth). He had this obsession to touch me between my legs/vaginal region. It went to a point where he would practically beg me to undress so he could touch me. I always denied but he wouldn't stop until I let him. Eventually I'd let him. This happened at least twice, one time his younger brother was watching while he did this. His parents caught us once but I don't think they ever talked to mine about it. The whole thing made me feel like I lost control of myself.

Now maybe a year ago I finally had the guts to talk to my therapist about it. He dismissed the whole thing, saying it's not sexual assault because we both weren't in an age where we had sexual desires. I was taught very early that no one I don't want to is allowed to touch me down there, so it very much felt like SA to me. I don't know how to feel about this anymore. Was I assaulted? Was it just a 'curious kid' like my therapist said? I don't know. Sorry if this is a mess, I'm at work right now but this is really bothering me.