It sounds like you have neither a conventional friendship or a conventional relationship but as long as you're both happy and you're not hurting anyone, I don't see any problem with what you are doing.
There are days I wouldn't mind a friend like that myself. Especially now the weather is getting warmer. Warm weather makes my hormones scream.
Is it normal to do sexual things with my best friend? [opp. sex]
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It sounds like you have neither a conventional friendship or a conventional relationship but as long as you're both happy and you're not hurting anyone, I don't see any problem with what you are doing.
There are days I wouldn't mind a friend like that myself. Especially now the weather is getting warmer. Warm weather makes my hormones scream.