Was I sexually assaulted or raped?

So my ex and I were together for a while. We had sex after 11 months of being together (he was my first). He wanted to have sex ALL the time and I did not. He would beg and beg and beg for sex, he made me feel extremely guilty for not wanting to have sex with him. A lot of times he would touch me and try to turn me on too. He would start grabbing my boobs and touching my vagina even with me saying no I don't want to have sex right now. Quite a lot after so much begging and touching I would just give in and have sex to get him to shut up. I hated it. I hated having sex with him and it made me not like him. I couldn't even stand the feeling of him touching me by the end of the relationship.

I don't feel like this was sexual assault or rape, but maybe it was? Idk. I mean in the end I still said yes-ish, but I still said no before and he would touch me after saying no.

Am I crazy for thinking this is anything at all?