My experience and thoughts

So,a few years ago when i was 15 i had my first sexual experience, it happene with my gf at the time. I was at her house,fast forward i finished giving her head and i knew i had to leave because her parents could've arrived home anytime now,she kept kissing me and touching me in my private area over my clothes and kept saying things like "its your turn now,please" and i kept telling her "your parents are on their way home i have to leave,please" and i felt so uncomfortable and scared bc it would've been the first time someone ever saw me naked or in any way like that and..in that moment i wasn't ready for that
And ever since it happend i keep thinking if it was SA or not? For the life of me i just need an answer to calm my mind,its been racing over this for 2 years now