I'd say you're young, no reason not to ask her out. Mostly its dependent on what you percieve is appropriate for the situation. Doesn't sound like she is "committed" and by that I mean restricted, nor by what you say is she down with the status quo. But as Pragma said, no wrong can come from getting to know her better and seeing what is there.
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To win a war you must serve no master but your ambition.
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