I don't see how a new crime of reckless penetrative would help. I think it would actually introduce a gray area.
What would you change the reasonable belief clause to?
Surely the fundamental legal point of law, did she consent , would still be a matter of yes or no?
I don't see that new laws are needed just better ways to prosecute under the current ones. But I can't think of any.
Most rapes happen between two people who know each, in private and in the exact same situations that consensual sex happens. The problem, is consent is intangible, it is very difficult to conclusively prove days later with no witnesses.