Not quite the same but a similar experience I had with a woman about 5 or 6 years older than me before I retired. I was sent by work to take measurements to monitor some defects in her old house (early 1900's). I found her quite attractive despite her age so often made it the last call of the day allowing me to accept offers of a coffee after I'd finished.
She always let me clean up in her bathroom after I'd finished before driving home. One day it was raining really hard I was soaked through so said, when asked, did I want a drink that I really needed to get home and into dry clothes. Knowing I had quite a distance to go she suggested it would be better if she dried my clothes for me in her dryer. I'm ashamed to say, I thought the prospect of removing all my clothes and handing them to her excited me a bit, though I assumed I wouldn't be stripping in front of her. She said she'd get one of her husband's dressing gowns for me to wear while they dried. She was a widow.
She gave me the dressing gown showed me into the utility room where the dryer was and left me to get undressed. When I'd finished I called her and she came and put all my clothes in the dryer but also surprised me by saying she'd run a hot bath for me. I thanked her and she led me upstairs to the bathroom. We both went into the bathroom and she checked the temperature of the water and gave me some shampoo, soap and a flannel then left me to take my bath.
I got into to the bath and began to feel warm for the first time for a few hours but was surprised a few minutes later when she knocked on the door and came straight in with some towels saying 'I thought you'd like some nice warm towels'. I was a bit surprised but rather excited to have her in the room while I was naked in the bath and more so when she suggested she stay, saying 'I used to chat to my husband while he took his bath when he came home at night, you don't mind do you, we're both adults aren't we?
I didn't know quite what to say but was happy with what she suggested so said nothing. Then she offered to wash my back for me! Without waiting for a reply she took the flannel from me and did just that so now I was naked, being washed by this woman that I'd only met a few times before. After she finished my back the time came for me to get out and I wondered what would happen next? I didn't have long to wait. She held the towel up and I realised she expected me to stand up. I'll confess I did have a semi but was glad of the increase in size in case her husband had been bigger than me. I only hesitated for a moment then stood up but as I did she stepped back away from me rather than wrapping the towel around me immediately and I realised she was getting a good look at my naked body.
She kept hold of the towel told me to turn around and started to dry my back and arms then left me naked while she reached in and took the plug out of the bath whilst telling me to turn and face her. She dried my chest and arms then knelt on one knee, her face close to my genitals, and dried my legs and I wondered how far this was going? Rather disappointingly she then handed me the towel saying. half laughing, 'you'd better do the rest I'll go and make some hot drinks for us both'
I finished getting dry, put the dressing gown on, then went down to the kitchen for the drink, thinking what a strange situation sitting here,, naked under her husband's old dressing gown, drinking coffee with a woman who was almost a stranger, who has just given me bath and seen everything I'd got.
I went there twice again but one time her daughter was there and on another a neighbour (female) called just as I was finishing my work so things never went any further though I did think the neighbour gave me some strange looks but perhaps that was just my imagination.