The part that implies consent may not have been obtained is also the part where she says “I decided to cross the boundaries". The way she describes having sex with him also shows him as a passive participant while a crowd was cheering and egging her on, rather than someone enthusiastically consenting at the time and regretting it afterwards because “he felt it was morally wrong to have sex in public". This raises the idea in my mind that he was in fact not asked for consent and the OP assumed because he was a man and perhaps turned on, that he wanted it.

This would also explain why he reacted afterwards saying he felt dirty rather than the OP’s argument that “vanilla people are inherently judgemental and shame me for being openly sexual, and I’ll never be able to properly relate to a vanilla person".