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I am sorry to hear about this situation. What essentially happened is that the police felt like they stopped a possible rape case where the woman was either too intoxicated to give consent, or was too scared not to.
The point is that nothing did happen. But the police will run this information by the prosecutor. Technically - and I mean unlikely - the prosecutor can attempt to charge someone in your situation with attempted rape or unlawful restraint (if they feel you brought her into the vehicle against her will), but that is ONLY if the woman sticks to her story and only if the prosecutor feels like they have a shot at a case.
What would happen now is that the prosecutor will review the file and the reports from the officers and make a decision as to whether or not to charge. Charges do seem unlikely assuming your fact scenario is true.
IF for some reason the police does call you to the station to give you version of events, using counsel is best. This is because the attorney can limit/suspend the conversation as needed and object to some questions. Anything you say can be used against you, of course. A voluntary interview can be had but only if the attorney feels that the need to give one's version of the events outweighs the dangers of the police twisting your words later.
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