was i raped or was i SA?

i went out with a friend (male). we had a good time and got drunk. a guy from the bar took us home because there were no ubers. neither of us knew him but he appeared to be nice. my friend blew up an air mattress so he wouldn’t have to drive back home at 5am. me and my friend went to sleep. i woke up to the guy fingering me. i told him no stop. and he whispered “shh it’s okay”. i tried to shake my friend awake but he wouldn’t wake up. the guy stopped fingering me but he started licking me everywhere. my feet. my legs. my vagina. i’m not sure how i was fully naked. i don’t remember taking my clothes off but i don’t see how he would’ve taken them off. i just laid there and cried. but i was literally panicking in my head. so i jumped up crying hysterically and saying “i’m going home. i’m going home.” my friend jumped up so confused. and the man stormed out of the apartment. my friend grabbed his gun and ran out but the guy was gone. my friend was so so helpful. i feel like i’m overreacting because his penis didn’t go in me. but it was still very traumatic. i feel so dirty and alone.