Exploring Boundaries in an Adult Relationship

I've recently begun exploring dynamic relationships beyond the typical dating scene. My partner and I have started to engage in what we both consider a form of consensual adult age-play, where she takes on a role that requires my guidance as someone older and more experienced. It's quite different from anything else I've tried before, and while it feels exciting and new, there are times when I'm not sure if the lines between fantasy and reality are clearly defined for both of us. We're both in our mid-thirties, and though we've been careful to establish clear boundaries and ensure everything is consensual, I find myself questioning whether this kind of adult dynamic is normal or healthy. Does anyone have any advice on how to navigate these waters without crossing into uncomfortable territory? Are there established guidelines for such dynamics that could help us both understand where our limits lie?