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I have fantasies about a couple letting me watch them have sex, not necessarily joining in, but watching, maybe talking to them and instructing them what to do. Or even spying on them, without them knowing I'm there.
Voyeurism has been a thing forever.
In the long history of humanity, private bedrooms are a very recent change. For most of humanity's history, kids saw couples having sex either regularly, or at least occasionally. If kids grow up in a society where sex is this super-secret, ultra-taboo thing, it's hardly surprising that watching another couple having sex becomes a very exciting idea.
Kids were often in the same room (or hut, tent, teepee, ect) as their parents having sex.
Indeed. And it wasn't just in "uncivilized" parts of the world or "primitive" societies. Not all that long ago, it was normal for ordinary, working people in densely-populated urban areas to have to live in a single room or, at most, two rooms.
Sex between parents would usually happen in the dark, under the blankets, and be furtive, but the kids had to understand what was going on, particularly as they got older.