What are the limits of nudity and touching between mother and son and a sons friends mom?

My mum was very open with nudity. We would sleep naked in the same bed ,shower and see each other nude and my sister and brother until I was 16.

Often we would lie on the couch watching t.v she would tickle me gently all over, on my bum cheeks, and my penis. She would often comment if I got a erection as a young boy and was always interested in my development as a young teen.

She would touch me like this till 15 yes old. I liked it. From age of 11 I would sometimes get hard and shed touch it but say nothing in front of the family. Shed shower with door open and walk in on me showering too and even help me wash up to age of 14.
When I was 10 I had a friend and his mom was similar. She encouraged us to get naked and even had sex in front of us and compare our penises.

At the age of 15, my mum and i were staying in a hotel. She was naked after showering and I went and had a shower I was hard and started wanking. She saw me and watched for a while until I noticed and stopped. That night I lay on her bed between her legs on my side while she tickled me all over I noticed her vagina getting wet. I fell asleep and woke naked beside her.

Is all this abuse?