No memory of "falling asleep" on date, woke up very groggy, sore, and with slightly bruised thighs. Could I have been raped?

Yes, it is possible that you have been raped. Some things that you could do now are go to the hospital to get checked out, go to law enforcement, or get into counseling. A good first step would be to contact our 24-Hour Crisis Line at 916.920.2952 and speak with one of our Crisis Line Counselors about what you went through and what you are feeling right now and they can give you options, depending on what you want to do.