Please try not to overthink it. This lady had every opportunity to walk away but enjoyed your company.

As long as you’re not grabby/feelie you’re good.

I’m a very social person that works in marketing. My job works directly with engineers with 0 social skills and we are close enough that they express the same type of concerns as you.

Again, don’t overthink it. Unless you’re a superior, your coworker can leave your presence at anytime b

You’re not hitting on her. You were being helpful. Nowwww… If you continued and followed up multiple times, then yes. Harassment. But if you left it like this, you’re just a nice guy.