I guess it depends on the situation. It doesn't have to be sexual.
I spent about a week camping with my family towards the end of one summer. There's a campground near a river we go to almost every year. It's a beautiful spot.
We got up the first morning and walked to the bathrooms together. The owners of the campground were in the middle of upgrading the bathrooms and had put in a family restroom. The sign on the door to the men's room said it was closed during construction, but that the new family area could be used instead. We walked around to the door. My mom and sister were coming out of the women's area. They'd forgotten a few things and were going back to the campsite to get them. We told them about the men's room being closed.
The sign on the door to the family restroom reiterated what we'd read previously. Inside, there were benches in the middle of the room, sinks nearby, and an open shower area along one wall.
We got undressed. There were voices outside. Shortly thereafter, a woman walked in with her younger son and daughter. She was surprised to see my dad and I naked. We informed her that the men's restroom was closed and that there was a sign on the door. She apologized and said she wasn't paying close enough attention. She was about to leave when her husband came in. He echoed what we'd just said. The woman said she would take her daughter to the women's area and told her son to shower with the dad. When she started to leave, he chased after her saying he wanted to go with her and not his dad. She told him no, but he started to cry and make a scene. Her husband turned to us and asked if we minded if they stayed together. We said no and made our way over to the shower.
The guy talked to his wife. She seemed reluctant, but agreed. They got undressed and joined us in the shower. My dad made a joke, which broke the ice and made everyone more comfortable.
The door opened again. This time it was my mom and sister. They'd decided to join us, though they didn't realize we had company. By this point, no one minded, so they tossed their clothes on the benches along ours and crowded into the shower. We were all joking and messing around. At one point, a woman opened the door. She got a panicked look on her face and backed out as quick as she could. We all burst out laughing. No on was in a rush to get dressed even after we'd finished in the shower. Everyone continued to walk around naked as we got ready.
Our families spent a bunch of time together during the rest of the vacation. Even when they opened the men's bathroom, we continued to shower together in the family area every morning. My parents still keep in touch with them, though we haven't seen each other for a while.
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