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Should I ask her out now?

Im 21 years old, and she's 19. We are both in college and she has told my friends that she likes me. Last night I was with her and a few friends at a bar. I bought her a few drinks, and at one point we kissed for like 10 seconds, then she kinda ran away. Then about 20 minutes later she started grinding on me. Then pulled away after one song. We were both really drunk so I dont remember what happend after that. But I was thinking about asking her out when I see her tomorrw. Should I wait since she seems a little shy or just go for it?
Should I ask her out now?
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