Is asking her out third (kind of second) time okay?

I met this girl and soon after I met her I asked her out. She said she is talking to someone. I moved on after few months I came to know that she is single. So asked her out again. That time she didn’t say she is speaking to someone but said no and and she sees me as a friend. As we are part of the same friend group, we have been good friends, hung out so many times in groups and has done lot of stuff together. But I kept a distance after second rejection. It’s been more than three years since. Sometimes by the way she looks at me I wonder whether she has feelings for me now. But I’ve already asked twice and don’t know whether it’s a good idea to do it again. Especially as we hangout in groups all the time. What do you think?

Is asking her out third (kind of second) time okay?
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