Is having sex with someone who doesn’t remember rape?

When I was 13 I slept over my best friends house (who now has passed).. she had three brothers, all different ages but close together. It was a Friday night and we all decided to buy alcohol and drink. I never had a thing for her brother but I thought he was cute.. he was way older than me and I never imagined me and him together in a relationship sexually. Fast forward to us getting drunk, I slept over her house because I passed out and I don’t remember anything I don’t remember how we got back home I don’t remember falling asleep. My intentions were to not get waisted or to even drink.. but sometimes you want to fit in you know? bad idea, I woke up with my underwear in between my knees and without any pants. I was very sticky and I do believe I had what looked like semen on me, my body felt sore.. so I asked my best friend what happen and she told me we had sex, but I never consented to sex with him and I never even pictured myself having sex with her brother. he was gone when I woke up, and I feel like he was gone because he felt guilty. him and his sister were arguing and I just didn’t want to consider it rape he went on and told everyone we had sex and it really hurt my feelings because we didn’t and the story gets worst because he claimed it wasn’t just him it was someone else as well... I got called many names and felt like I was bullied I never hung out with them again because it felt wrong but I loved my friend even now that she’s passed away. I’ve visited her grave maybe a total of five times in hopes that I don’t run into her brothers... I’ve never told anyone because i’ve never knew what to consider it, now I’m 19 and I just wonder was it considered rape ?