Our expert says:
The memory may be accurate, or perhaps influenced by later events or other things you have heard about child abuse. It was surely kids being kids. At 3 he would probably have been open to experimenting if you encouraged that ; and at 5 you might be exploring more explicitly sexually, but without any ill intent or understanding of any significance beyond what might be interesting or pleasant. There was no bad intent on the part of either of you, and hence nothing that merits you feeling guilty about it. Your brother may well not remember anything about it, because until we are 4 or older we don't form reliable memories.
Maybe with whatever hormonal problems you mention, you may be somewhat depressed, which would exaggerate feelings of guilt. See a normal, ordinary psychologist for assessment and for CBT-style help at defusing the power you have given this memory and getting beyond it and better able to enjoy the rest of your life.
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