No assault case here. You even admit sex was consensual. Verbal consent is not necessary. Consent may be communicated nonverbally, through behavior. Next morning regrets, do not constitute sexual assault or attempted rape.
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Consent need not be verbal. Can you imagine how many movies would be ruined if Harry had to first ask Sally, "Madam, may I endeavor to kiss you" coquettishly?
You actions demonstrated consent. Your concern is an emotional, not a legal one.
I think you've posted this for very dubious reasons having nothing to do with any potential legal issues. You would be best served by enlisting the services of a skilled and experienced psychotherapist who can assist you with the real issues that are affecting you, your judgment, and your need to share with the public. IMHO.
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The short answer is no.
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The explicit consent standard that you propose would have the virtue of clarity (perhaps a written agreement would be better) but would have the disadvantage of resulting in the disappearance of the species within a generaltion.