First glad things working so well for you guys. But even though you have passed through the initial steps, there are some things I'd like to throw out as to the origional situation.
People in a particular lifestyle (dictionary defination used here) can get over focused in their own perspectives and labels.
There is vanilla, and there is vanilla, and there is vanilla. Just because someone doesn't go to certain clubs, parties, websites, etc , doesn't mean they they aren't sexually charged, possably kinky,or open to playing with people if the opportunity presented itself.
If you are receiving signals that definate, but not in 'offical lifestyle code', then respond in the manner of an ' advanced vanilla '
The flirting and gropingwould have given the opportunity to say something along the line of " Wow ! So do you guys fool around or what ?" delivered with a strieght face. At that point they can agree, start a discussion, make specific offer, or laugh it off as a joke with little face lost. And you didn't expose yourself as a Lifestyle person, just as observent potentally openminded ( dictionary defination used here again) person.