The chapter linked appears to be called "Physical Escalation and Sex" and seems to be very late in the book.

Consent is assumed in the situation because of all the stuff leading up to it. Like the getting the number, the going out on dates, talking a lot, and finally ending up alone with them in their or your own residence.

Are you sure you've had sexual congress with a woman before? As many other posters are pointing out in this thread, most real women absolutely do not want to be asked for permission every step of the way.

Furthermore, the author includes quite a bit of text about respecting when consent is explicitly withdrawn, which is something I hope we can all agree is a good thing, without getting lost in, "but you should discuss it first". Most people don't, and that's the reality we live in.