Yes. Tuas was forcing Uru into a commitment with sex. Apparently, their people are like wolves in that they can only ever have sex with one person. So by forcing Uru to sleep with him without his agreement, Tuas is forcing their relationship even if Uru hates him. Uru is in his kimono because maybe Tuas never took it off or put it back on him. I know I've had sex with my clothes on. You don't have to get naked.
For me it looks like he passed out
Well considering he wasn't marked up, odds are he passed out while Taus was about to rape him, making Taus reflect and not do the act and then take him to the bed because he did mess up the clothes changed him. But it can be either he was or wasn't raped it's very unclear. However going by their behavior after It is more likely Uru passed out which most likely scared Taus since Taus was intending to be 'affectionate' but was very aggressive and possessive about it.
I also think this happened.
agree, I don't think Tuas is crazy enough to do that
Did Taus rape him? Why is he suddenly in bed like that in his kimono after being forced down? I really hope he just passed out.