tl;dr at the end of the post

Context:

A few years back, when I was still in high school, I was in a new class and met this girl (don't worry no oneitis). Let's call her Samantha. I was depressed, not confident at all and girls were those mystical creatures. She saw that I was a nice guy and depressed. She helped me with a lot of really bad trouble that I had to go through (family struggle, ssri withdrawal symptoms, bluepill breakup emotions) and helped me to be more confident. Over the years (5) eventually we got really good close friends. When I say good friends, I mean being really really honest to one another even if it's hurtful. I helped her in many situations, brought her to realise that she needs therapy, because I'm being honest with her and don't tell her fairy tales to impress her. When I'm sick she would bring me meds or buy stuff for me, when she's sick I would do the same.A few months back I started discovering TRP. I'm still on my RP path but started using RP tools and had some success. Finally I had sex and more female interaction after months of being depressed (I did had sex in BP days but not as often). (I think it would be good to clarify that atm I only have one plate, I don't want to promote myself like I'm at the top of the mountain, but I'm on the right path)

Main part:

I've always been honest to Samantha. I've told her I could never be in a relationship with her, I talked a lot about my sex life,other girls I made moves on, asked her indirectly questions about female nature, and vice versa. We once talked about how we never had sex or kissed. Conclusion: We both now had the thought of having sex with one another in our minds. More kino over the days. On Sunday she was at mine, she wanted to leave, I kissed her, but realised she was standing still like a tree, not expecting it. I just continued talking as if nothing happened. I held frame. Next day she wanted me to come over but I injured myself at BJJ training and have a muscle distortion in my leg, I couldn't walk. Yesterday she was at mine, wanted to buy me stuff because I couldn't do the groceries. This happened. Extreme kino. She was lying on me, I had a massive boner. She did made a small subtle indication about the kiss in the a text message. She was talking and I stopped her. "I have to talk about the elephant in the room. I'm fucking horny right now" Basically we just talked about if we really wanted to risk our friendship over that. We both made it clear that we didn't want to lose our friendship but the sex part would only be a "plus" to our friendship, yet we were still unsure. We did make out afterwards and I continued to turn her on. I had to stop because of my injured muscle (ffs). I told her to leave, that I needed my sleep (and get my thoughts right) because I knew we couldn't have sex. We both wanted it.

Problem:

She knew me as BP. I couldn't be the captain (although I try to do so sometimes in our friendship). She knows all my vulnerabilities, I know hers. It's risky. She knows my emotional side that I hide with other girls and plate. I told her I could manage my boundaries but I don't know if she can.

Question:

Was anyone in a similar situation? How did you proceed?
Did you fuck up?
Am I not seeing the woods for the trees?
Is it not worth it?

Harsh criticism appreciated.

tl;dr: Developed platonic honest valuable friendship with girl over some years. Discovered TRP. Talked openly about my sexlife. Nearly had sex with her, but didn't proceed because of an injured leg. Did someone had a similar situation? Should I risk it?

Edit: Spelling