It is quite common and healthy for siblings to explore their sexuality together, even into adulthood. For you to have been doing it for years upto this age fits with the norm.
My personal opinion is incest is ok, as long as 3 conditions are met:
1) It is consensual/no-one is being forced/raped.
2) No-one else is getting hurt by it (neither of you are cheating on a partner).
3) No babies are made from it.
Is it normal that I have been sleeping with family?
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It is quite common and healthy for siblings to explore their sexuality together, even into adulthood. For you to have been doing it for years upto this age fits with the norm.
My personal opinion is incest is ok, as long as 3 conditions are met:
1) It is consensual/no-one is being forced/raped.
2) No-one else is getting hurt by it (neither of you are cheating on a partner).
3) No babies are made from it.