years later, I don’t know if I was assaulted or not

I’m a 26-year-old female. I will say that borderline sexual abuse occurred as a child by my a family member. When I was 21, I met this guy on a dating app. We hung out at night, which was really dumb. I know. I remember he had kissed me and the next thing you know we were in the back seat. He put my hand on him and next thing I know he was ripping my pants off, and he had his way with me. When I got home, I was soaked in blood. The pain was so bad. I had to get antibiotics. When I was 22 I had a boyfriend and when we would do it together, it would hurt after a while and when I would tell him to stop, he would tell me that he was close and just to let him finish… I’m starting to think maybe that’s the reason I hate sex. And why I could never get into it.