Hooking up w/girl ruined friendship?

Hey guys,
This might make this girl seem crazy, but it's only my side of things lol and I admit this incident seems kinda of out of the oridnary but there is a legitimate question in it.

So i hooked up w/a friend, diff from previous post, who had been staying at my place for a couple of days and I think it may have been a bad idea because it might have something to do w/her getting super upset with me days afterwards. Usually we'll cuddle if she's over but after hooking up she became sensitive to my touching her, and even though I usually sleep with my shirt off, she asked me to put mine back on (??) and on the day of the falling out we're in the drive thru for food and makes a comment how I'm not man enough or something because I shouldn't have to grab her wrist to prevent her from pinching my inner thigh (she'll do that or grab my ass, or pinch my nipples) cuz it hurts her wrist (she struggles against it, making the process painful cuz I don't want to be pinched) and I put my hand on her thigh by her KNEE and she flips out saying I'm a creepy guy, and not to touch her and that I was feeling up her leg.

She yells at me to get out of the car and when I refuse she threatens to call the cops, I calm her down and then I ask her "see, if you don't like it why do you do it to me?" and forget what comes after that but she's into bondage and wanted to try some anal hook on me earlier (no homo lol) which I apparently had agreed to months ago, (she took the thing out and started rubbing it on my butt playfully and I eventually swatted it away earlier in the day) and tell her about that in the car saying "how can you call me creepy given that and your behavior?" to which she replies "You agreed to that!" and I reply "Fuck you! I don't remember that" and she kicks me out of her car and i walk across the street home. She comes back later, grabs her shit, doesn't want to discuss things but mentions (and later DENIES a couple of minutes later) that i knew she got that way when drunk and had planned that and leaves. She comes back the next day (we do business together from time to time) and tells me she doesn't want to be my friend, she doesn't want to discuss it because I'll just have a response for everything and its because in general I'm a creepy guy like a "friend" of hers who tried to continuously hook up w/her throughout the years even when she had boyfriends. I'm in essence not a true friend, even though I absolutely DIDN'T plan anything. This girl has helped me out and i've tried to be there for her genuinely so it was hurtful to be accused of being some creepy dude trying to just get with her like her other friend.

So here's what occured according to me and what I think went through her mind and why she might think I'm creepy, I want to get your guys honest opinon on the matter of whether I crossed a boundary and she's not overreacting.

My pov: I was asked by her to suck on her toes, things progressed from there to me eating her out and then further, no resistance and she playfully asked "what do you think you're doing huh?" hence me not thinking I was doing anything to violate anybody given she was into it and it's not like I just pulled down her pants, I started off slow and it had been an hour or so since drinking, we went for food and she seemed just fine ordering and came back
i'm asked to massage her ass from time to time, she'll grab mine from time to time, suck on her toes not as much, she'll grab my nipples and squeeze them a couple of times a day when we hang out, is it really that odd to imagine a guy going further when asked to massage a girls ass? Is it fair to think that, yes a girl can ask you just to massage her ass from time to time and you can't do that and if she wants to squeeze your "nips" then she can and if you grab her ass in return and squeeze, you're being creepy. Should I have asked before going further if it was OK? We were watching a movie and one of the characters at one point resists the advances of a drunk girl saying it wouldn't be right and she says "yea, see", and continues to make comments during her stay about "you ate my ass, you don't know what I ate" in playful way, but keeps saying it from time to time with a smile and when I ask if she's bothered by what happened gives me a stearn 'No' like why would I, almost offeneded that I asked, but things don't add up. Things have gone further before even when sober, not up to sex, but she ends up asking me to stop.

Her (what I imagine) pov: He went further than I intended and without me saying stop will go further, this type of thing happens between me and him from time to time and I always end up telling him to stop, it's just a heat of the moment type thing, he took advantage of me being in the moment and getting me horny knowing I had been drinking earlier, hence being a creep. I just wanted my butt massaged for fun, not my butt and then my vagina touched and my toes just sucked on, can't he realize that?

Should I have not did what I did? Was I being a creep over being a friend or were my actions not that out of the ordinary given the context of the situation?
It seems like maybe if she seemed to have a problem w/me touching her, I being a guy should've been more tactful in someway? She seemed to get horny and my being there led her to give in from time to time but she didn't want to really do anything. I feel bad if I did ruin the friendship because of being creepy, I didn't want to come across that way.