I hope you stay safe. I’ve had multiple straight cis men tell me that they don’t care if someone is transgender, and more than a few of them had domestic violence in their criminal records. It’s alarming that it’s happened so many times, so I generally try not to step outside queer spaces when looking for dates now
https://en.m.wikipedia.org/wiki/Soaking_(sexual_practice)
Tldr it’s penetration without thrusting or grinding