No.
There's no "asking for forgiveness later" even with a kiss. Consent is consent no matter "the stakes" and boundaries are boundaries and only to be crossed when allowed to.
The one and only respectful way would be to be like: "hey, I feel like kissing you right now, is that okay with you?"...
I dunno, this has been incredibly amazing up until this current arc but I just feel so very "ugh" about the turn the story is taking...irreparable brain damage, mild shizopheria, hallucinations..it feels like a bunch of serious mental health issues were just kinda looked up and then thrown in...