Did my mother and grandma touch me inappropriately and what would this be considered? Did my dad do anything inappropriate?

I am a 19 year old male and need help processing if this is sexual abuse or what it would be considered and if you think my parents or grandma had any sexual intent.

Ok so when I was younger than 12 (That's when she died but I suspect it was younger like before 9), my grandma played this game multiple times when I was in my boxers and she would grab my penis and i'm not sure how long she would hold it. But one time, she grabbed it and I held her hand to keep holding it because I liked the feeling. I don't know what happened after I remember her looking at me that's all.

Secondly, I remember my mom bathing me and wiping for me at an older age than normal where I thought to myself "this is weird," however I don't remember when but it was definitely in either late elementary school or early middle school. When I was 10-12, she applied neosporin and rubbed it on my penis. When I was ~13, She caught me jerking off and my pants were down and she sat next to me in bed then said put your pants back up, smiled, and then cuddled with me. Up until 14-16?, she would give me rubs and massages and it would usually go on the front of waist like where my pants would sit, and it would also go near my butt under my pants Also she would sleep with me to bed and give me massage until 18.

Add on to what my dad did (He probably has a little bit of autism): During vacation at 11-12 years old I was showering and had the door locked and was jerking off, and he unlocked the door with a screw and opened it and looked at me and said something. He also would walk in on me showering occasionally at a old age like 13+ he doesn't have boundaries on that stuff I guess.

When we were on a hike with my sister (Maybe 15-17, and I'm 10-12), she said don't look. Then he said something along the lines of "Just pretend to not look." I don't know what his intentions were here or if I misunderstood him.

When I was going through puberty maybe 12-14, my mom told me that my dad commented to her that my penis is bigger than his now.

We would pee in the same urinal in public but I'm not sure at what age, so not sure if this helpful.

I also believe I showered with my dad at not a very young age but I'm not sure if it's real. My sister said she had reoccurring thoughts of my dad and my mom and her showering and my mom made her touch her boobs and my dad made her touch his penis. She talked about it in therapy and they didn't finish talking about it but might've came to a conclusion that it was not real and was a intrusive thought as a child that gets brought up since she doesn't feel uncomfortable about that stuff with them.

Is this bad I'm not sure I didn't like some of it but I liked some of it