Worried I went too far with my girlfriend

Yeah u did. Jail!

I’d like to give a trigger warning before this for sexual content.
——
For the past few months, I developed a sort of OCD around having sex with my girlfriend. I’d often ask her after each time we had sex if I’d listened to her, gone too far, been too pushy etc. to the point where she gets really annoyed with me and tells me to stop asking her stupid questions.
However, I think I messed up the worst today.
She came to mine yesterday and I wasn’t planning to do anything intimate, out of fear of going too far or not listening, but in the morning we started cuddling and I got horny. I asked to hump from behind and she then turned to me and asked me to get on top of her
It was like missionary but through clothing, not actual sex. We’ve done it multiple times before, but lately I’ve been worried to be on top out of fear that I wouldn’t listen or not react fast enough if she tells me to stop or wait, so I initially hesitated. However, she assured me that everything would be okay and so I felt better about it and decided to go for it.
I got on top and we started humping and everything was okay, but when I got to finishing it went downhill.
I usually enjoy staying in contact after finishing since it feels good, I’m not sure if that’s a normal thing but I expected to stay on top for a short while after I finished. So when I did finish, I asked her if I should get off. In my mind I hoped for a no since 1. It felt better and I wanted to stay on, and 2. the last time we did it she told me not to and even let me stay on longer than usual.
I did worry about what I’d do if she said yes though, and even though I hoped for it not to happen, she did say yes for me to get off. I did it, but it was kind of reluctant and I hesitated because it felt good and I wanted to stay on. I felt bad about it instantly after and I told her I wanted to stay on (I meant it as in I’m anxious I did something wrong because I wanted to stay on and got up reluctantly).
She then said that I should’ve told her (that I wanted to stay on) and that she said yes because she thought I wanted to get off (probably because last time when she told me to stay on I was, again, worried about what to do when she did say yes, so instead of anticipating I kept asking to get off in advance).
She said it was fine and that she’d told me everything I need to now so I should stop asking.
I asked one more time since I was still worrying (a common occurrence) and she got upset and said that if I asked again she would stop having sex with me because all this asking makes her feel insecure.
I still feel very bad for wanting to stay on. I shouldn’t have got on top in the first place or humped at all. I feel like it could be a crime, like sa, and I’m going to jail.
Even though I did listen and push off I think I shouldn’t have expected to stay on and it was very weird of me. I also feel like I could’ve been faster because that hesitation took a second or so. My friend said a second doesn’t matter because I still did it, so it can’t be sa, but I still feel bad for wanting to stay on in the first place.
A while ago in April I had a similar issue where I didn’t expect her to tell me to move off, and a similar thing happened where I hesitated and could’ve been faster to do it. I called 111 and spoke to a lady after that, who said that I shouldn’t worry and try to forget about it unless my girlfriend says something’s wrong. My girlfriend has also told me that if something did go wrong she’d tell me, but I just think that she doesn’t want to see it as sa because she doesn’t know my intentions were to stay on since it felt good.
I don’t know what to do. Did I commit a crime?

I’d like to give a trigger warning before this for sexual content.
——
For the past few months, I developed a sort of OCD around having sex with my girlfriend. I’d often ask her after each time we had sex if I’d listened to her, gone too far, been too pushy etc. to the point where she gets really annoyed with me and tells me to stop asking her stupid questions.
However, I think I messed up the worst today.
She came to mine yesterday and I wasn’t planning to do anything intimate, out of fear of going too far or not listening, but in the morning we started cuddling and I got horny. I asked to hump from behind and she then turned to me and asked me to get on top of her
It was like missionary but through clothing, not actual sex. We’ve done it multiple times before, but lately I’ve been worried to be on top out of fear that I wouldn’t listen or not react fast enough if she tells me to stop or wait, so I initially hesitated. However, she assured me that everything would be okay and so I felt better about it and decided to go for it.
I got on top and we started humping and everything was okay, but when I got to finishing it went downhill.
I usually enjoy staying in contact after finishing since it feels good, I’m not sure if that’s a normal thing but I expected to stay on top for a short while after I finished. So when I did finish, I asked her if I should get off. In my mind I hoped for a no since 1. It felt better and I wanted to stay on, and 2. the last time we did it she told me not to and even let me stay on longer than usual.
I did worry about what I’d do if she said yes though, and even though I hoped for it not to happen, she did say yes for me to get off. I did it, but it was kind of reluctant and I hesitated because it felt good and I wanted to stay on. I felt bad about it instantly after and I told her I wanted to stay on (I meant it as in I’m anxious I did something wrong because I wanted to stay on and got up reluctantly).
She then said that I should’ve told her (that I wanted to stay on) and that she said yes because she thought I wanted to get off (probably because last time when she told me to stay on I was, again, worried about what to do when she did say yes, so instead of anticipating I kept asking to get off in advance).
She said it was fine and that she’d told me everything I need to now so I should stop asking.
I asked one more time since I was still worrying (a common occurrence) and she got upset and said that if I asked again she would stop having sex with me because all this asking makes her feel insecure.
I still feel very bad for wanting to stay on. I shouldn’t have got on top in the first place or humped at all. I feel like it could be a crime, like sa, and I’m going to jail.
Even though I did listen and push off I think I shouldn’t have expected to stay on and it was very weird of me. I also feel like I could’ve been faster because that hesitation took a second or so. My friend said a second doesn’t matter because I still did it, so it can’t be sa, but I still feel bad for wanting to stay on in the first place.
A while ago in April I had a similar issue where I didn’t expect her to tell me to move off, and a similar thing happened where I hesitated and could’ve been faster to do it. I called 111 and spoke to a lady after that, who said that I shouldn’t worry and try to forget about it unless my girlfriend says something’s wrong. My girlfriend has also told me that if something did go wrong she’d tell me, but I just think that she doesn’t want to see it as sa because she doesn’t know my intentions were to stay on since it felt good.
I don’t know what to do. Did I commit a crime?

I’d like to give a trigger warning before this for sexual content.
——
For the past few months, I developed a sort of OCD around having sex with my girlfriend. I’d often ask her after each time we had sex if I’d listened to her, gone too far, been too pushy etc. to the point where she gets really annoyed with me and tells me to stop asking her stupid questions.
However, I think I messed up the worst today.
She came to mine yesterday and I wasn’t planning to do anything intimate, out of fear of going too far or not listening, but in the morning we started cuddling and I got horny. I asked to hump from behind and she then turned to me and asked me to get on top of her
It was like missionary but through clothing, not actual sex. We’ve done it multiple times before, but lately I’ve been worried to be on top out of fear that I wouldn’t listen or not react fast enough if she tells me to stop or wait, so I initially hesitated. However, she assured me that everything would be okay and so I felt better about it and decided to go for it.
I got on top and we started humping and everything was okay, but when I got to finishing it went downhill.
I usually enjoy staying in contact after finishing since it feels good, I’m not sure if that’s a normal thing but I expected to stay on top for a short while after I finished. So when I did finish, I asked her if I should get off. In my mind I hoped for a no since 1. It felt better and I wanted to stay on, and 2. the last time we did it she told me not to and even let me stay on longer than usual.
I did worry about what I’d do if she said yes though, and even though I hoped for it not to happen, she did say yes for me to get off. I did it, but it was kind of reluctant and I hesitated because it felt good and I wanted to stay on. I felt bad about it instantly after and I told her I wanted to stay on (I meant it as in I’m anxious I did something wrong because I wanted to stay on and got up reluctantly).
She then said that I should’ve told her (that I wanted to stay on) and that she said yes because she thought I wanted to get off (probably because last time when she told me to stay on I was, again, worried about what to do when she did say yes, so instead of anticipating I kept asking to get off in advance).
She said it was fine and that she’d told me everything I need to now so I should stop asking.
I asked one more time since I was still worrying (a common occurrence) and she got upset and said that if I asked again she would stop having sex with me because all this asking makes her feel insecure.
I still feel very bad for wanting to stay on. I shouldn’t have got on top in the first place or humped at all. I feel like it could be a crime, like sa, and I’m going to jail.
Even though I did listen and push off I think I shouldn’t have expected to stay on and it was very weird of me. I also feel like I could’ve been faster because that hesitation took a second or so. My friend said a second doesn’t matter because I still did it, so it can’t be sa, but I still feel bad for wanting to stay on in the first place.
A while ago in April I had a similar issue where I didn’t expect her to tell me to move off, and a similar thing happened where I hesitated and could’ve been faster to do it. I called 111 and spoke to a lady after that, who said that I shouldn’t worry and try to forget about it unless my girlfriend says something’s wrong. My girlfriend has also told me that if something did go wrong she’d tell me, but I just think that she doesn’t want to see it as sa because she doesn’t know my intentions were to stay on since it felt good.
I don’t know what to do. Did I commit a crime?