Seeing someone nude without their knowledge?

Seeing them naked without their knowledge? Nothing comes to mind. But I heard neighbors doing something sexual many times.
 
Yes - living in NYC saw plenty of people walking about naked in their apartments. Obviously they knew SOMEONE would see but didn't know it was me.

Beyond that, not sure. My high school gf and I once caught her sister (one year younger) and her girl friend playing in a creek in their bra and panties. We hid and watched for a while until they eventually noticed us. They were super embarrassed but laughed it off and were good sports about it. It was somewhat erotic, looking back.
 
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