did i sa someone?

I recently got a text from my ex girlfriend who reached out to talk to me about something. She asked if i remember a past sexual encounter and if i remember her pushing my hand away, to which i said no. she told me that during the encounter earlier in the day i asked to touch her and she said no and i asked “you don’t want me to touch you at all” and we didn’t do anything and then later we were in an atmosphere where other people were doing things, in the same room. its gross i am aware. but from how i remember she was pushing her butt back on to me, i took that as a sign and slid my hand down to touch her and she started grinding on it, we both agreed on that part at the time. then i asked to do more, meaning go inside of her shirt, and i heard yes because i verbally asked “can i go inside” so i did but we switched sides first, then that happened. she’s now texting me saying that the reason she stopped talking to me was because of that. she said that it was a miscommunication and that she didn’t think i would do anything like that purposely. she said that she didn’t want to but that she kind of shrugged yes. i feel terrible about this because it’s been two years. i never knew she felt like this and i feel awful that i didn’t even realize or recognize she felt that way. we are friends now, but i can’t help but feel grossed out with myself even though she said it was okay and that it was a miscommunication and that she fawned.