I am looking for graphs which satisfy the following conditions. (I have tried finding some possible solutions but no way to confirm them)
(a). a K5 as a minor but no K5-subdivision? ans. Petersen Graph?
(b) a K3,3 as minor but no K3,3-subdivision? ans. Toroidal Graph?
(c) a K5-subdivision but no K5 as minor?
(d) a K3,3-subdivision but no K3,3 as minor?
It should be straight forward to prove the following statement:
The other direction is not true. As you mention in your post, there exists examples of minors which are not topological minors (e.g. the Peterson graph with minor $K_5$).
To see why this is true, remember the definitions of what it means to be each:
If you know something is, for example, a subgraph of $G$, then there is some sequence of transformations from a list of allowable transformations. Since each of those transformations are allowable for, say, showing it is a minor, the same sequence of transformations can be used to show that it is a minor.