Try googling swinging, lifestyle, BDSM and sex-positive clubs, groups and events in the nearest city/cities. I have a feeling calling them voyeur/fetish clubs is what is causing you problems with finding them.
Since your main aim is to watch people have sex, I'd also suggest asking about groups/clubs on SwingersBoard (.com, I think, but google it). There are tons of friendly people there who are happy to answer questions and share their vast knowledge of that lifestyle. I'm guessing some of them are also into BDSM and can point you in the right direction in terms of kink nights at swinging clubs or BDSM clubs/events in general.
Most swinging/lifestyle and BDSM clubs have areas that allow exhibitionism/voyeurism and separate areas where voyeurism isn't allowed. Also, I've never heard of a club that compels people to participate beyond their comfort level or be involved with others in any way, so I think your fears on feeling forced to have sex with others or do any sort of BDSM activity are unwarranted.
At our local club (which is sex-positive, but most members are kinky in some way, whether that's bedroom-only or lifestyle D/s), there are different events nightly that cater to different activities/kinks/groups, and people are encouraged to participate at their comfort level. I can, and do, go just to socialize with other kinky people at times. We've been flirted with and I've been asked for a kiss by a newbie ONCE (I politely declined), but we've never been propositioned or felt compelled to do anything but follow the common-sense rules and have fun watching and doing our own thing. From what I can tell, the vast majority of clubs/groups are just like this because they want everyone to feel safe and comfortable and don't want to deter lifestyle newbies or new members.
The other thing to consider is that most of us kinky folk have been subject to some discrimination and/or being told what we do is "wrong/sick" so most of us are pretty sensitive to accepting fellow kinksters and vanillas of all persuasions. Bedroom-kink isn't my particular brand of kink, but that's cool...diversity makes the world go 'round, right?
So, I wouldn't worry so much about whether things talk about the "lifestyle" or not. That can mean a lot of different things and doesn't necessarily exclude people who are on the lighter side of the spectrum. Find the events/clubs first, then contact someone to ask if there's an area for voyeurs, if some members are more occasional/bedroom players, what the rules are, etc.