If I set Sex to yes, does that mean they're willing to do SOMETHING, but not necessarily penetration? Does touch inside mean they will allow penetration, while touch outside mean they won't?

Sex means sex, touch inside or outside means how you can play with her using your fingers. Some don't like you to put your fingers inside, dirty fingers cause infections

...Sex is have sex ie intercourse.  The touch  category actually says touch pussy. "Yes, inside" means she's ok with you inserting your finger/fingers.  "Yes, outside" means no finger insertion but you can touch it.