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barneystinson69 said:

If she consented, then no it isn't rape.

Not if she is determined by the court of law to not be of clear mind to consent, you will be charged and be registered as a sex offender. If you don't mind going door to door around the neighborhood warning people you are a sex offender your advice is sound. Otherwise, I would wait until the girl is sober or at least make sure she is not blitzed and passing out on the way home.