An umbrella term for behavior aimed at sexual self-stimulation is

Autoeroticism and masturbation

Explanation:

Autoeroticism and masturbation are terms used to refer to the act of provoking sexual self-stimulation and the act of stimulating the genitals, manually or by means of objects, with the aim of obtaining sexual pleasure, whether or not followed by orgasm. It is a non-penetrative sexual practice that can be practiced by yourself or someone else. In short, these are generic terms used to refer to sexual self-stimulation behavior.

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