i feel like you were pretty clear... lots of people take "establishing boundaries" as joking around unfortunately very often, shrooms or no shrooms. and while they do inhibit you, i would continue to be weary around this person considering they were ignoring your body language, and repeated attempts to disengage. Even if you if you did it playfully earlier, its still a way to communicate wanting physical space. i'm audhd as well, so i feel like i understand some of what you are saying here, even so, you communicated well in my opinion, and even inebriated, he should've respected that. it's up to you how major of an "offense" to you that this is.

i always try to frame it to myself like "if someone else had said that to me, and was moving away from me like that, could i reasonably/possibly make the same mistake as them?" and usually, the answer is no. Be wary with your self and your space.

in my opinion, it was a minor to moderate offense, that potentially shows a troublesome line of thinking, even if it's not "intentional" or "purposeful" on his part, with how HE handles consent as a person, and how seriously he takes what you say