I always found that scene and the follow up to be really uncomfortable.
I see Data as the one who was taken advantage of. He did seem pretty immature, even child like, in his reactions, so it does feel like he was abused. I mostly don't really blame Tasha due to her impaired state of mind. The "bad touch" feel of the whole thing is worse because of the way Tasha takes this attitude of "don't tell". It's open to interpretation, but I still find it creepy.
In no way do I think Data took advantage of her. She was the aggresser and the more experienced party. If the genders had been reversed and a "drunk" man took the virginity of an innocent female android and then pressured her to keep it a secret, I think people would see this differently.