My fault or sexual assault?

Quickly I’ll tell you what happened: I used to dogsit for this guy and I had a crush on him but he always had a different answer to “do you have a gf” so I never wanted to do anything. I thought he was hot, we’d flirt. But at the end of the day, he knew I didn’t wanna do anything because I didn’t know if he had a gf from his hometown. It was always “it’s complicated” but post pics of her type shit. I suddenly needed to move back home due to some family stuff. I invited him over for drinks WITH MY ROOMMATE and he said something like “can we fuck before you move” I jokingly and while intoxicated was like “haha maybe” but this was something we regularly joked about but never acted on so I thought nothing of it. Towards the end of the night, I got so drunk that I don’t remember anything after that conversation. My roommate told me the next morning she walked in on us having sex but I don’t remember having sex. I had dogsit for this guy every day for months. If I wanted to have sex with him, there was plenty of sober opportunity and I never did because I DID NOT WANT TO HAVE SEX WITH HIM, at least until I found out the truth about girl back home. I blame myself for flirting but still think “I was too drunk to remember having sex” so then I blame him. Is this sexual assault?