Theres no way to say for sure he'd have been found guilty, civil claims are at a lower standard. But yes, at the time there was a statue of limitations on sexual assault and what he did wasn't technically counted as Rape and it was left until too late to prosecute. Both of those have changed now, but not retroactively.
But he should have gone to prison for his business fraud conviction. The judge left it so late he refused to send Trump to jail despite it being the sentencing recommendation.