Is it wrong?

Me and my fiance talked about it and we dont care if i touch him or if he touches me while asleep. I like it. Hes woken me up kissing my neck roughly and rubbing me and i love seeing how bad he wants me 🤷 i completely understand of women are uncomfortable with it. I was at first but i trusted he wouldn't do anything to hurt me. Now i find it exciting when im woken up like that. One of my close friends were talking about it and she asked if i ever woke up to him touching me and i said yea but idc because i like it. She told me its still rape even if i told him he can do it before because i can't consent asleep. I saw it as we had a talk and i gave him my consent in the talk so i didnt think id have to give it again? Is it wrong we do this?