Need help!!!!

I really need some advice on rekindling an old friendship I had with this girl. We were best friends for 7 years and then I ended things because it wasn’t working for me anymore, I felt she was being too possessive. It’s been 4 years now and we’ve both matured. We didn’t end it on a bad note. I saw her the other day and we chatted for a few minutes and it felt as though no time had passed and I missed our friendship. Do sou think I can try to rekindle this friendship? Or will she maybe still be hurt by what happened 4 years ago? And how do I rekindle it? Do I text her or what? Idk please help