I'm honestly confused about whether or not it would be considered consensual?

In your specific situation, does it really matter?

I was telling him to stop because I knew I wasn't wet enough and I wanted more foreplay so it wouldn't be painful. I technically wanted to have sex with him, but wasn't ready at that point in time.

You wanted to have sex. You started having sex. You didn't want him to insert yet but he did. You consented, you just had a preference on how to have sex.

Regardless, you gave consent to have sex.

I'd compare your situation to this analogy. Let's say I wanted to have sex, but I wanted to have sex in doggy position. But my partner decided to climb on-top of me and ride me. I didn't technically "consent" to having sex in cowgirl, but I was still consenting to the sexual experience.

It doesn't make a difference.

Honestly, you wanted to have sex, you gave consent, you just wanted it a very specific way and he wanted it a different way. I wouldn't make an issue out "consent" in that situation. Instead, have a conversation on foreplay and lubrication.