Yes, I think it is. Consider: if she knows (and it is a big if) that you are "curious", as you put it, yet she still sleeps in the same room as you, would she continue sleeping in the same room, especially considering her background of abuse, if she was uncomfortable with it? Probably not, unless your's is the only available bedroom. If any of that made sense, you could just talk to her about it, if you think that she'd be open to it.
Is it normal that i want to have sex with my cousin
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Yes, I think it is. Consider: if she knows (and it is a big if) that you are "curious", as you put it, yet she still sleeps in the same room as you, would she continue sleeping in the same room, especially considering her background of abuse, if she was uncomfortable with it? Probably not, unless your's is the only available bedroom. If any of that made sense, you could just talk to her about it, if you think that she'd be open to it.