Is the act mentioned considered sodomy that necessitates the prescribed punishment (hadd), and is repentance from it accepted, especially with the uncertainty of the glans having fully entered?

Praise be to Allah for repentance from sodomy, which is one of the most heinous sins. Sincere repentance erases sins, no matter how great they are, for Allah, the Almighty, says: "O son of Adam, were your sins to reach the clouds of the sky and you then asked My forgiveness, I would forgive you and think nothing of it." The prescribed punishment for zina (unlawful sexual intercourse) is incurred by the penetration of the glans. If that did not occur, then there is no prescribed punishment upon you. You must conceal yourself and repent from these actions.