Is it fine for my boyfriend to go to another females home?

So my boyfriend has a female friend that he use to have a sexual relationship with.. before she was aware he was in a relationship with me, she tried to lean her ass against my boyfriend ass in front of me, when I asked my boyfriend why she had done that he had told me they were intimate before I came into the picture, so that’s why she had done that(it was the first time she met me then also ) so since then I feel really uncomfortable about him going to her home(for biz exchange matters) without me.. am I being over reactive? Since then she’s aware of our relationship so that didn’t happen again. But again makes me wonder if she has feelings for him should I be concerned about him continuing being friends with her or just not worry about it?

I can’t obviously tell my boyfriend who he can or not be friends with, considering especially they’ve been friends with benefits before he met me..

**And no he never slept with her whilst we were together . It was before him and I got into relationship.

My boyfriend says they are completely friends and that she only done that because she didn’t know I was his girlfriend.