My Recent Sexual Exploration with My Partner

I've been in a long-term relationship with my girlfriend, who's also in her twenties. We recently started experimenting with more explicit sexual acts, and I found myself experiencing something new during our last session. She suggested we try role-playing as strangers at a party, which was thrilling but left me questioning the boundaries of what feels right to me. During the scenario, she took an assertive role while I tried to maintain control in this unfamiliar situation. As we started, I felt both incredibly turned on and slightly anxious about losing myself entirely. We engaged in explicit sexual activity for a prolonged period, with her guiding the pace and intensity until I reached multiple orgasms. The physical sensations were intense: my cock throbbed as she guided it into her wet pussy; my balls tightened and released repeatedly. Afterward, I felt an odd mix of satisfaction and discomfort. This is new to me and I'm not sure if it's just a one-off or indicative of deeper desires. Have others experienced something similar in their relationships? Is this normal, or should we talk more about our boundaries and comfort levels?