Was I Sexually Assaulted?

So, I (18F) am in a relationship with a guy (19M) for over a year, and some things happened, and I want to know if he assaulted me (I feel really bad about what he did but idk if I can call it assault and break up).

The first time, we were sleeping naked at the night of my birthday and I woke up the next day at 4 am with him hip thrusting me with his penis hard, it felt like he was trying to "put it in". And I dont remeber that well or if any time passed but then I remember waking up again to him tapping his penis on my butt (naked). I stood up and comfronted him and we had a conversation and he said he was sorry and that he didnt think that I would not like it because we are very intimate with each other... that was 6 months ago, I asked if he had done that before during my sleep and he said no, that was the first time in my life when I didnt know if he was telling the truth.

We had a lot of conversations about it, I said I didnt like it and told him many times before we went to sleep that I didnt want him touching me when I was sleeping. And then one day I woke up to him touching my nipple. He wad also sleeping and I woke him up and we had another conversation, he said he was sorry and that he didnt mean it because he was sleeping.

Now, last sunday he was sleeping over at my house and he was about to go take a shower and he was very horny. He started to kiss me and I would kiss him a little and then pull away and tell him to go take the shower so we could lay in bed and watch the last of us. He kept kissing and touching me and then pulling me against the bed then putting me on the bed while kissing me. He then opened my legs (I was at all moments telling him to go take a shower so we could lay on the bed after) and started touching my vagina (i had clothes on). Then he started to "play with it" and pulled his dick out, at that moment I stopped talking and became silent, I mean, I repeated the same phrase a lot, he heard, so wtf? He was still not listening so whatever... He fucked me, I had literally this face on 😐 during it, then he proceeded to ask me if I had liked it... I told him well i didnt want to have sex and then he acted surprised liked i didnt tell him many times for him to go shower and pulling away from kisses... he started apologizing and telling me felt bad and whatever, what he always says when he does something bad.

So, did my boyfriend sexually assault me? Do normal boyfriends do this?