Ugh so sorry OP! We had a similar teacher in high school for English. He was the field hockey or girls lacrosse coach, married a former student and was always rubbing girls backs and giving hugs. He was very popular with the sports girls, but I always got the ick from him. He would come up next to girls and do this weird sideways hug. This was the early 90s.
I think a long time ago, things like this were just tolerated and looked at as part of being a girl. You may not even have seen it as grooming or abuse at the time and just have been a little uncomfortable or even okay with it at the time. All those feelings are fine. You were a kid/teenager.
A lot of this stuff rises it head in mid-life (it did with me) and therapy can help, but forgiving yourself helps. You may have not believed the other people as a defense mechanism protecting yourself from processing the camping trip or your dad’s behavior. That is a completely understandable reaction.