Growing up, did you change clothes with the opposite sex sibling?
I was just speaking with someone, and mentioned that when I was growing up my sister would use the bathroom when I was in the shower. Our bathroom was divided into two halves with a small wall, but it didn't really block anything. She would change clothes with me in the room, and I would change with her in the room. We did this from when we were younger until leaving for college, and never thought anything about it.
It wasn't that we were exactly naked together. We kept to the different sides of the bathroom, although it was easy to see across.
We didn't change clothes together all of the time. But if were in her room when she changed or she in mine, the other person did not leave. Being in underwear and bras was typical. When we had to change underwear and she her bra we did it sort of discretely. She covered her top when she changed her bra, but I saw her breasts when she was drying off.
My sister was good looking, but I never thought of having sex with her or was even turned on by her. We had acted this way since we were young, and it was natural.
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