The way you're feeling is a normal reaction to an experience like the one you've described. I would call this abuse, but it's not for me to tell you how to define your own experience.

Panic attacks, disliking unexpected touch - these things are very normal, very common reactions. I do think you should seek professional help, because these are symptoms that you're being affected by the past and need some help and compassion to be able to heal.

I'm so sorry that you were hurt in this way.