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When is it time to ask her to be my girlfriend?

I met this girl at the lap swimming pool about a year ago and we go on adventures together like hiking and swimming and biking and we have a gone out to eat together a couple times but we drive separately and pay for our own food but I was wondering if I should pick her up and take her somewhere to eat and pay for both meals I did take her to the post prom party but not actual prom so how would I go about changing my adventure buddy to my girlfriend also how should I let my parents meet her and should I be nervous about meeting her parents
When is it time to ask her to be my girlfriend?
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