This is a very touchy subject for so many people and I believe you've handled it beautifully.
I had good and bad sexual experiences as a child. The bad was a family friend's son forcing himself on me (he was about 5 years older and it was definitely unwanted on my part)
The good was similar to yours, a female friend I'd known my entire life, we were the same age, and essentially played 'doctor' a few times when we were around 6 years old. It was exploration at its purest. Neither of us had parents who talked about sex or sexuality, so we were figuring it out on our own.
Thank you so much for sharing your words. <3