Yes she can join you

You tried to think past your lust and fatigue but the only way to take care of both of those would be to say yes. So despite your better judgement you agreed.

She clapped excitedly and ran up to you. Before you could say another word her lips were on yours. Her tongue invading your mouth and you found yourself kissing her back. She tasted good.

As your willpower crumbled and the kiss continued on you began to feel an insistent poking in your belly. Reaching down your hands find a hardening shaft that you began stroking as she skillfully undid your armor.

Before you knew it you were naked on the side of the road. You were on all fours with a cloak on the ground below you and an extremely thick cock laying on your back.

"What I wouldn't do to hear you beg for my cock Hero."