This is a large plant about 3-5 ft. tall. The flowers are a dusty rose.
The first photo shows closeups of the flowers and the second shows details of the unusual milkweed flower structure. It clearly shows the anthers that are fused to the side of the stigma, the corpusculum, and the stigmatic slit. A visiting insect may insert its leg into the stigmatic slit. When removing the leg it will pull off the corpusculum and the two connected pollen sacs (pollinia) that are inside the anthers and carry them to another flower.
The third photo shows a cluster of flowers that is frequently slightly drooping and located in the leaf axils. The next photo shows the plant among crown vetch and the last photo shows the pods. The pods are warty which distinguishes this from other milkweeds.