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I think a better option that still communicates the same basic message is, "Are you ready to go?"
For one, it's not nearly as classless as your suggestion, meaning she is less likely to feel like a 'dirty slut' as a result of you asking it. It also implies that her going home with you is a foregone conclusion rather than something up for debate. You're not asking her IF she wants to, but WHEN, which is always a more useful conversational frame - not to mention more successful.
Your boy,
870
I dont think you guys are understanding the situation I am describing. You have already approached the girl, you have already attracted the girl, you have already gotten the girl to your crib and then at your crib, in the privacy of your home, you ask her "do you want to have sex?