Should I go for it??

i've been best friends with this guy for about 3 years and i'm super comfortable around him and trust him completely. things have always been kind of flirty but lately even more so (he'll put his hand on my thigh and just flirty bantering). sometimes i think we might have sex (i'm a virgin and he's much more experienced) and tbh i would be cool with that just bc i'm so comfortable with him. should i go for it or wait a little longer?