Ok, given that this is the first time the OP has been intimate with this woman, and she's basically a stranger, do you think it's better for him to err on the side of caution or to just go for it?
Math
A. I said nothing about rape. I am not saying he just go find her right now and start molesting her. Context. If you're grinding private parts from under your pants with a woman for half an hour (to the point where your friends thought you had sex), the context changes. You can, in fact, experiment a little to get a reaction especially since that is exactly what she is doing to him. You HAVE TO at some point experiment in having sex every single time you have sex with someone for the first time. If you're afraid of being accused of rape then I suggest never having sex with anyone, ever.
B. If you can't tell the difference between a woman that is being turned on by something and a woman that is being turned off by something, again, I suggest never having sex with anyone, ever. Things have to build up too. It starts with a kiss or a touch no matter how far it builds up. If you kiss someone that doesn't want to be kissed then that's molestation as much as a spank on the butt fifteen minutes into a makeout session. Heck, it might be more so.
And how did you know she wanted to be kissed? In her eyes? Her lips? Looks. Posture. Did she flick her hair? Talk to you a certain way?
You know whether the woman wants to be braced against the wall well before you reach the wall. Is she going with you (like a part some strange dance between the two of you)? If not, then stop. It takes two to be bent over the knee.
Observational skills: that's what makes you good in bed AND safe in bed.
There is "Oh" as in surprise, shock, arousal, anger, confusion, etc.
"Please" can mean yes, no, thank you, I appreciate it, ugh, prayer and desperation, etc.
How does one know the difference? It's obvious to anyone without aspergers, no?
C. If OP had an interest in being cautious, then why did he go with her to her house at all? Nevermind that he knew her husband could actually be coming home soon. The OP wants to bang this lady. I'm the only one here that appears to have any clue how to make that happen. It is advice and only advice. He does what he wants, and, to give you credit, it's his ass if things go wrong. But to me, I'd be more afraid of Mr. Hubby than Mrs. Emotional Rollercoaster. But, then again, without Mr. Hubby, Mrs. Emotional Rollercoaster wouldn't have hit on him in the first place.
I mean, she called herself a "prude" for christ's sake. She's playing innocent make believe for a reason.