My boyfriend accidentally sexually assaulted me and Im scared I wont regain his trust

Last night we were cuddling and he was playing with my hands which I didn't mind obviously but that made me really sleepy and when he asked me something about that I should go home I barely responded cus I was about to fall asleep but randomly he started to touch my arms and belly which I thought okay Im like half asleep he wouldnt go further without asking me right? He let me go for a moment so I just turn to sleep on my stomach but then he suddenly gets really close to my face and starts touching me more everywhere and eventually ends up touching down there too like a couple of times without actually fingering. I already started to feel sick when he got more touchy but when he got down I just froze and I couldnt say no and I thought fuck Im letting this happen and im doing this to myself by not saying anything even tho I technically could have but he eventually stopped because it was late and I had to catch the last bus home.

I went nonverbal and he at first thought im just so sleepy or smt but then he gets worried and I tell him im gonna text him once Im home. I told him that I didnt consent and the way he didnt check up on me even if I didnt say no wasnt okay and he starts to apologize and takes full responsibility and said that he really thought I was feeling good but that he shouldn't have assumed that in any way. He said he feels like a horrible person.

We talked through our boundaries and I said exactly when he needs to 100% ask me if going further is okay and we made two safewords one verbal and one nonverbal. I still love him but Im scared that I wont gain trust in him again and that im doing a wrong decision still staying in this relationship even though I know that by breaking up ill be 10x more miserable.