Hey there, browngirl.
So, it sounds like you might be coming to this with the idea that what sex is is something much more limited than...well, what sex actually is and can be.
For instance, the way you masturbate? That's sex. If you did that with another person present on purpose, to enjoy them being there, part of what you were doing? That would be sex with another person. Other things you're describing -- kissing, other kinds of touching -- are also other potential kinds of sex, or ways of being sexual, too, if they're sexual for everyone involved. Someone else doesn't have to be actually inside our bodies in some way, or inside our genitals, for it to be sex. If it's helpful, here's how we define sex around here: What's Sex?
That all said, a) that may or may not tell you anything about if you're asexual or not, and b) you probably are not going to be able to know what you want and like with another person without experimenting and exploring with that other person. And when I say with that other person, I mean with that other person very specifically, because we don't always like the same things -- or the same things the same way -- with everyone! It's pretty common for us to like different things with different people, because our relationships and the way we feel with people aren't all the same, how our bodies "work" and feel together aren't the same, and who we are at the time of life we're with someone isn't the same, you know? Plus, experimenting is actually usually one of the parts of sex that *makes* sex interesting and fun and enjoyable. If we all just knew exactly what we liked and exactly what to do it'd feel pretty boring and rote.
While I'm here, sounds like you might also find a couple anatomy guides handy, so here's two of those as well:
• Innies & Outies: The Vagina, Clitoris, Uterus and More
• With Pleasure: A View of Whole Sexual Anatomy for Every Body
Happy to keep talking, but how does any or all of this feel as a start?