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How should I ask her out?

We've been friends for 3 years now, and we're really close and hang out a lot, but she rejected me once 2 years ago. A while back she mentioned in a conversation that if enough time passes, she would reconsider. She broke up with her boyfriend of 4 months back in July, and since the beginning of this semester she's been acting differently around me; like inviting me to join her for meals, sitting closer to me, riding with me in the car, etc. First question is should I even ask her out again to begin with? Secondly, how should I bring it up and ask her if we're already hanging out? I don't think much would change in the relationship we already have, we'd just be more... exclusive.
How should I ask her out?
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