Am I wrong for sexually pleasuring her how she said she wanted me to?

My ex is currently accusing me of sexual assault, not in court because she knows there is no evidence of me touching her without consent but it is ruining a lot of my friendships and is taking a toll on my current relationship and from what I understand the reason why she believes I sexually assaulted her is because she is a “people pleaser and my yes’s don’t always mean yes” (yes she said that) before I got in a relationship with her I had planned on saving myself for marriage but she was always trying to engage in any form of sexting wich is why I need to know am I in the wrong? She would ask me to do things and I would ask if she was sure and she would constantly say “yes I would love it” but from what I’ve uncovered apparently the whole time those have meant “No I never want you touching me” I just need some closure on this