When my wife and I were dating, we each had separate apartments.
I had a coworker roommate at mine.
When she would come over to spend the night, I would open my bedroom door, and make her show herself, suck me off, and fuck me. I would put her in compromising positions that would ****** her to the open door.
Nothing ever happened, nor did we get caught, but we both loved the thrill of the risk!
Some time later, we rented a house together, and had my best friend as a roommate for a period.
It was multi-level; our bedroom was upstairs, and he chose the bedroom in the 'basement' as his.
I would have her put on a robe and nothing else, take her downstairs, and sit on the couch facing his bedroom together.
Then I would take her robe off and masturbate her while she was totally *******, and sometimes fuck on the couch.
Again, never was caught or surprised, but the thrills were electrifying!