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It depends on whether the sleeping person expected the initiation to occur during sleep or whether they had no idea. No idea = no consent = assault. Aware/anticipating = consent in advance = no issue. Whether it feels good or not does not change the act.
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this seems along the lines but opposite of post-consensual-sexual-remorse, wherein one or both people feel bad/ guilt about it later and even might try to redefine their narrative of what actually happened because of those bad feelings.