Coworker keeps asking me to stay longer when management is not around, is this okay?

So I work at a small coffee chain restaurant, and I’ve been there for 2 months now. This coworker has been there for 3. Lately I’ve been working the 3-10 or 4-10 shift, and she is a regular closer. Our store closes at 11 so my job is to help out by serving customers and cleaning and her job is the same except she stays the extra hour to do a final clean and close. Pretty much every time she has asked me to stay till 11 even though I’m done at 10, and the first time she asked I said yes because I felt bad and she told me I wouldn’t be getting paid for the extra hour. I was like okay whatever this probably won’t be a regular thing.

2 days later on my next shift a girl asked if I stayed late the other night and I said yes, and she told me how she did that once for the same coworker because she said she needed help and ever since that time she always asks her to stay and will literally cry and be rude if she says no. Fast forward to now, this past week I’ve work till 10, 4 days this week, twice with said coworker and twice with two different people. The two different people had no issues closing and never asked me to stay, but said coworker has asked me both times, so tonight I told her no, and she replied with “I spoke to the manager and she said it’s fine if I have to ask you to stay till 11” and I just replied with “well I talked to her and she never said anything and I’m only scheduled till 10, that’s all imnpaid for. And she walked off and said “I guess I hope for too much” and “I don’t know how I’m going to get everything done before 11”. She also left me alone for 2 hours serving while she was in the back and most of the time I had coffee and sandwich orders with 5+ people waiting in line. And when she would walk by she would just say “sorry, I can’t help you”

Is this okay, and should I be staying, or should I bring this to the manager? I’m new so I don’t want to be annoying or anything, but I need to know if I should be staying or not, and if so I’d like to at least see it on schedule so I know ahead of time.