Overreacting, or S.A?

★ I tensed up when mom touched my thigh in the car once, I didn't like her hand there And I didn't know how to tell her to not do that, so I just let her do it until we reached home. ☆ I was blowing in a bottle (squeezing it in and expanding it) and Dad made a joke about how I'm supposed to do that to my husband, and I found the joke a little disturbing, so I tried laughing it off, and mom got mad at me for laughing at the joke but I didn't know what else I was supposed to do. ★ I'm not used to family affection (hugs and kisses) I'm affectionate with my friends, hugging them isn't a problem, but when it's my family I can't bring myself to do so. We also never have family time, it's once or twice every year sometimes. ☆ Mom told my aunts that I speak some Japanese, because I tried learning it, and dad yesterday said he doesn't know much about Japanese but he knew what "Hentai" was, and laughed. I looked up what it was, and I feel disgusted that he felt the need to say that. ★ Mom pointed out when I was really little I had a hole in the middle of my pants and she stuck her finger in the hole and touched not necessarily me, but my underwear covering me. I'm scared it might escalate from here, but I don't know how to tell them to stop, nor do I have the courage to.