Is kissing and foreplay between a non-mahram man and woman considered zina (fornication/adultery), and is it permissible for the man to marry the woman with whom he did that, without penetration or touching the hymen?

Fondling and kissing a foreign woman are sins and iniquities that are impermissible. While this is not the fornication that incurs the prescribed punishment (حد), it is among the types of zina (fornication/adultery) of which the Prophet, peace and blessings be upon him, spoke: "The son of Adam has his share of zina prescribed for him, which he will inevitably attain: The zina of the eyes is looking, the zina of the ears is listening, the zina of the tongue is speaking, the zina of the hand is touching, the zina of the foot is stepping, and the heart desires and wishes, and the private part confirms or denies that." Whoever commits such acts must repent, seek forgiveness, and draw closer to Allah. There is no objection to him marrying her if they both sincerely repent.