Should I sleep with my friend’s mom?

A few days ago, I was at the home of an acquaintance of mine because we have mutual friends, and I felt so much sexual tension between his mother and I. For context, I’m a (20m) and she’s 55, but she’s stunning and looks more like she’s 35. She’s also not married, and runs her own business from home so she’s very independent. My friends were all talking amongst each other having drinks, and she was alone in the kitchen drinking by herself, so I decided to strike up a conversation with her, and little did I know that her and I have sooooo many things in common.

We talked for hours about art, and philosophy, as well as life experiences. Her and I had some drinks and she started to open up to me about her past relationships, and her life as a whole, and a few times we were both playfully touching each other. I put my arm around her shoulder a few times, I caressed her arms and even had my hands on her waist at one point. I kept telling her how amazing she looks, and she would giggle every now and then. At one point she started touching my face and arms while telling me how I’m “such an incredible and beautiful man” and that I’m very wise and mature for my age, and how I’m going to do incredible things one day, she said other things too but I was pretty buzzed so I don’t remember exactly what she said. Eventually everyone went to sleep except for her and I, and we stayed up talking for a little bit longer.

It was 4am at this point, and her and we weren’t entirely sober, but she told me to give her a hug before she went to bed, and after we hugged told me how much she loved my energy, and how great it was talking to me, then she put her forehead against mine and held my hands while I held her waist, and she eventually went to bed. I woke up feeling like an idiot because I feel like I had every chance to escalate things further with this incredible woman, but I was weary about her possibly feeling uncomfortable.

Before I left the next morning I thanked her for everything, and told her we should do this again soon and she agreed, but the way she was looking at me made me feel like she was interested in me too. I forgot to say that a few times she mentioned a few things regarding her sex life, and how she hasn’t been with anyone in such a long time, however she did say that she’s not the type to have casual sex with people, but then she made a comment about maybe trying it out. I just want to know what I should do the next time I see her, I’ve never been in this kind of situation, and because I’m pretty inexperienced when it comes to women let alone older women, I just need any kind of guidance. Thank you so much.

TLDR; I hit it off with my friend’s mom, and I would love to sleep with her but I have no idea how to go about it.