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I get these urges and fantasize about being fully naked in front of my wife, her female friends, cousins and sisters while they are fully clothed
This sounds like it would be right up your ally:
http://www.xvideos.com/tags/cfnm
I would say being naked in front of your wife is normally a daily occurrence at least in my marriage. If your wife doesn't want to share you naked with her family (probably a normal reaction) go to a nude beach. Most women don't undress and have tacitly stated that they are comfortable looking at others being nude, whether men or women.
Do you mean something like this?
https://www.youtube.com/playlist?list=PLvHjbbz-iyFxPhNpkvAGB_RdAxlQQD8gB
I'd like to see your wife, her friends,cousins, sisters, your sisters and both of your mothers nude in front of me. Than just have them look at me. If thier not to old or ugly.
Respect for your wife surely would be her decision especially if you have shared it with her as you were naked to her or with each other: I don't believe it to be a normal natural re-action out of respect for her. To Fantazize maybe but leave it at that
I don't know why you would have the urge since you probably should be naked in front of her often . I don't think it's normal to feel the need to expose yourself to her family or other women though? unless you both are swingers of course .
Is it normal? Yes. As for the wife, we were married 50 yrs. and nudity was a regular occurence (but watch out when she's carrying a pot of soup [lil guy likes to get hot but not 212deg.]) As for others, I didn't, but not because I didn't want to. You see - my middle name is not 'Stallion'.
Maybe in a comedy club but they didn't have them back then.