Steve Harvey dragged over advice he gave to a woman who said her BF had sex with while she was sleeping

Talkshow host and relationship expert Steve Harvey is being dragged by fans for a shocking advise he gave to a woman who wrote a letter to his radio show to say her boyfriend had sex with her while she was passed out and wanted to know how to deal with the situation without labeling her man a rapist. Steve basically admitted he and many other men have done it before. Read the letter the woman wrote and Steve's advise to her and tell us if he deserved to be insulted for his comments...

The letter ...

Good Morning Shirley & Steve!
I’m a 23-year-old working woman who is madly in love with her 27-year-old working man with whom I’ve been with for over three years.
One day, I went out with my friends and I drunk more alcohol than I was suppose to. Once I came home, I started to get sick and passed out. In the middle of the night, my boyfriend woke me up and told me to clean myself up. Confused, I asked him why. He says because we just had sex. Of course, I had no knowledge of it because I passed out because of the late night drinking.
The next morning, I asked what happened the night before. He says that he came home, saw me in bed and wanted to have sex. He said I didn’t move or talk but just thought I was really tired. (Even though there was a tall trashcan right beside the bed and apparently my head was halfway in it). Would you consider this a sexual assault? How can I tell him without hurting him, or scaring him to think that I’m labeling him as a “rapist."

Steve's advice:

"This is kinda a tough one for a man to answer because we've all done this. Tried it anyway. All of us. I done actually tried to Army climb from up from under the bed trying to get to it...We've all tried it. It's called the sneak-attack...
Y'all live together. He told you what he did. He woke you up to make sure you got cleaned up. He told you what he did. A person who did something that they think is really wrong is usually in denial about it. Did he rape you in my estimation - NO. Because you all have had [sex]."