Yes, that's a good guide generally including preventing a drunk friend from throwing up on her shoes by getting a bucket, or whatever.
I disagree with you about consent not being black and white. But really the issue is the socialisation that there's something more awful about missing out on a sexual opportunity than there is about having sex that one party later regrets or (and this is separate) feels they didn't give free and meaningful consent to.
As per your example, you stayed friends with the woman and so might have had sex at another moment if you both, freely and with capacity, wanted to. And if not with each other, well, no doubt another positive sexual opportunity would arise for you both down the line.