The only source I could find for this claim that Virginia said she was forced to sleep with Naomi Campbell is Reddit.
Here's a quote from TIME magazine regarding the unsealed documents that were used as part of a suit against Ghislaine Maxwell:
"For the most part, the documents say little about the actions taken by individuals outside of Epstein, though there is a 2016 deposition from Johanna Sjoberg, one of Epstein’s victims, that mentions politicians and figureheads in the U.S. and abroad.
While celebrities like Bruce Willis, Cameron Diaz, Cate Blanchett, Kevin Spacey, Naomi Campbell, and Leonardo DiCaprio are also mentioned in the records, they have not been accused of helping Epstein in any capacity. Sjoberg was only asked if she had met the aforementioned people, which she denied"
Another quote from Arab News:
"In 2019, Campbell discussed her initial encounter with Epstein in 2001, saying: “Yes I knew him. I was introduced to him on my 31st birthday by my ex-boyfriend Flavio. He was always front and center at Victoria’s Secret shows.”
She continued by disclaiming any knowledge of Epstein’s sexual offenses, saying: “What he’s done is indefensible. And when I had heard what he had done, it sickened me to my stomach just like everybody else because I’ve had my fair share of sexual predators, and thank God I had people around me that protected me from this. Right now I stand with the victims.
“I find it extraordinary that of all the hundreds of thousands of people that I’ve stood next to, to take a picture at a public event, they’ve only chosen these few,” she added."
Finally from The Sun:
" 'Virginia Roberts, 36, who alleges she was forced to have sex with Prince Andrew three times, tweeted her fury at members of paedophile Epstein’s social circle.
She wrote: “You saw me at your parties, you saw me in Epstein’s homes, you saw me on the plane, you saw me get my haircut, you saw me on the streets, you watched me be abused. You saw me!
There is no suggestion the supermodel or her guests knew who Ms Roberts was – nor had any knowledge of Epstein’s behaviour.' "
So what I get from this is that like a great many celebrities Naomi Campbell was seen around Epstein and Ghislaine at the same time that one or other of Epstein's victims were there. Sometimes photos were taken and it is this that Virginia alludes to when she says 'You saw me'
But there's no proof they knew (although I find it hard to believe that they didn't at least think 'she's a young girl, how did she get in this venue, why is she with Ghislaine etc) that Virginia was being sex trafficked. I can't see the vain, capricious Naomi risking her career to be in something that dark. She might accept diamonds offered up to her by an admirer and not give a shit where they came from, and she might have a nasty temper, but I (personally) don't think that she is that stupid.