Quick bit of context: I (30M) am an INTP/very blue/introverted deep thinker. And I have known performance issues, I can achieve an erection but cannot maintain it.

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I was hanging out with a previous coworker(45F), that I hadn't seen in about 2 years at her place. We had fooled around in the past and sext recently, in the past few months. We were drinking and chatting, small talk mostly catching up. Talked about the last time we saw each other and relatively quickly started making out. 

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We went to her bedroom where naturally one thing led to another. I was hard and we started having sex, lasted a few minutes before I felt myself getting soft inside her. Horrible feeling for me, probably terrible feeling for her. I rolled onto the bed and lie there, she was pretty calm about it as I have found most girls are in the moment. We talk a bit and things start heating up again, we decided to try more oral stuff this round, similar to the last time we hooked up. Hard, close, but couldn't finish and again found myself losing my erection. 

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At this point I am pretty defeated mentally, this girl seems eager to please and I obviously want to finish. We laid there cuddling talking, and she tried to heat things up again. But I was already so far into my own head at that point thinking about so many different things I don't know if anything could have gotten me hard at that point. 

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We laid there for about 15-20mins with me holding her talking, some things sexy somethings neutral. I decided I needed to figure out a way to get myself out of the situation and wanted to leave. I did not know how she felt or what exactly she wanted, but I was extremely uncomfortable being unable to perform. I said I needed to use the bathroom, so I got up from the bed and went. 

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I finished doing my thing and when I came back I just immediately grabbed my pants that were on the ground and said "I think I am going to go." She responded with "Seriously? Right after?" I retorted with "I didn't cum, so I think I should go." I never hesitated putting my clothes back on, I remembered where every article was and quickly made sure I retrieved everything. I asked if she was going to walk me to the door or stay in bed. She said she would walk me out, she grabbed a robe and walked me to the door. We exchanged an awkward hug kiss thing and I said bye and left.

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So am I the asshole for getting myself out of a situation I no longer felt comfortable in?

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tl;dr I had sex with a previous coworker, could not finish which made me uncomfortable. Because I was uncomfortable I left shortly after without much reason as to why.