There would be a crime that cover that, but maybe not rape itself if he did not penetrate her. There is assault, forcible confinement, and other things.
What was the crime that Avery would have faced with just having entered a premise unlawfully and walking out without doing anything?
The most that would have happened to Avery is a warning by the cops, unless he had warrants for other crimes.
It wasn’t a situation to be a hero over.
Attempt to commit a crime is a crime and is codified. Have you ever heard of “attempted murder?” “Attempted robbery…”