In conjunction with the description of involuntary genital exploration that normally precedes the above quote it was, unambiguously, an episode of sexual assaul

In conjunction with the description of involuntary genital exploration that normally precedes the above quote it was, unambiguously, an episode of sexual assault. You can debate whether digital-only -- but nonetheless involuntary -- stimulation fits the legal definition of "rape" in this or that jurisdiction, if you want. But if so, you'd be splitting hairs.