Is this sexual assault?

I was at a party after my boyfriend and I had just gotten into a fight and I became so intoxicated I couldn’t stand or walk. His bestfriend had to carry me to the car and put me inside. My friend was in the backseat with another boy and they started to kiss. The bestfriend told me that he wouldn’t take me home unless I kissed him, I told him to stop and take me home and he said okay and started driving. After a while he pulls over at this “make-out” point on the side of the road and my two friends get out leaving us. He helped me out of the car and then opened the trunk and put me in the back. At this point I was still extremely intoxicated and I told him I didn’t want to fuck him in the back of his car and he just laughed and it happened. My friend came back to the car and opened the door when she saw the lights turn off and we went home