Help my friend lowkey traumatized me (tw SA??)

So i uses to be best friends with this girl and she honesty made me really uncomfortable. She had absolutely no boundaries to the point where we have showered together and she would strip naked to change her clothes with no warning. It was weird. And the worst part is that she would ask me to "desensitize" her by touching her. Like, she would tell me to grab her boob or thigh so that when someone did it for real she wouldnt react as much?? I dont understand her reasoning. I didnt want to though and it was like i was pressured into it because she wanted me to and i wanted her to not be mad at me or something. But i didnt want to. So now im a bit traumatized and im afraid of intimacy and i just recently realized that she might be the cause of it. It doesnt seem that bad when i write it out but it was really weird. Does this qualify as SA or something? Idk what it would be considered but i didnt like it.