I dunno. I mean, if a girl's made it crystal clear that she's the total horny nymph 24/7 and she's always up for anything no matter what, I would say you could presume she'd be into it, and go ahead. But unless she's given you everything but landing lights, I'd probably ask first. Never hurts, and besides, sometimes when you ask, you get an unforeseen bonus in the answer, for example:
"Say, honey, if we were spooning, and I woke up with a hard-on, would you be cool if I just slid it in and woke you up that way?"
"Are you kidding? I'd love it. And for that matter, I'd love it if someday I woke up handcuffed and in a tongue sandwich between you and my best friend Jennifer!"
(sounds of jackpot bells ringing, confetti falling, balloons popping, crowds cheering)
/advice
__________________
Dull sublunary lovers love,
Whose soul is sense, cannot admit
Absence, because it doth remove
That thing which elemented it.
(From "A Valediction: Forbidding Mourning" by John Donne)
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