Asking for consent

I am still a virgin and I never been kissed until before quarantine happened. I met this girl on this dating app and we hung out. We talked about sex and stuff, but I told her I have never been kissed. She was surprised and told me why nobody ever went for me. I asked her if she wanted to make out and she was surprised that I asked for consent when you can just go for it. I felt pretty guilty afterward. I thought about it constantly. I believe this reason why I feel guilty was that I have family members who have been through rape and sexual assault. They changed their tune and I felt responsible for it. I vowed to myself that I would always ask for consent. However, several of my friends were like, why would you just ask if you can just go for it? I feel weird asking now, but I still feel a bit safe.