I don't know what to say about all of this. Like is "groping" like loving stroking? There's a difference. But maybe fuzzy in some ways. That is really late to be breast-feeding, but based on the cultural differences, I can't really comment well on that either. What is a little off to me is that you seem to describe your parents as emotionally aloof or negligent and yet your mom was touchy-feely. I don't see those as going together so neatly. A healthy touchy-feely mom is more often associated with also being loving, warm, nurturing, etc. So, sorry I don't quite know what to make of this.
If you've had suicidal thoughts you do need to ask a counselor or other professional for help. If your parents find out you are not okay, that would simply be the truth, and they need to know. But suffering on your own can become increasingly exhausting at any age, but especially as you gradually approach adulthood and feel limited in skills to cope. So while I can't answer your original question (sorry) I can say you deserve help. Maybe talk to a counselor, or some adult you trust, and share that you are also afraid of your parents finding out...hopefully a counselor could help talk you through that or reassure you that you will be okay. You need support for all of this.