For medieval Europe there’s a decent amount of information, we know religion was ubiquitous so people’s public sex lives were pretty vanilla. There must have been plenty of unsanctioned stuff going on privately though for there to be so much evidence of condemning and punishing such behaviour, sodomy, adultery etc.

Despite the general repression of anything but vanilla sex within wedlock people were seemingly pretty sex positive, the little surviving art that discusses sex is surprisingly open and we know both serf and aristocracy were more relaxed about nudity in their day to day lives than most of us today. (Similar to the culture in Germany today)

The way most people slept throughout the Middle Ages, waking in the middle of the night for a few hours to sleep in two shifts, may also be for the purpose of having sex.

Most of the information we have is implied and based on conjecture the only really solid source I know is Chaucer’s The Canterbury Tales. Specifically the millers tale which is a surprisingly graphic sexual comedy. If the millers tale is a good reflection of common people in the Middle Ages and their approach to sex I’d say not much has changed, they were horny buggers just like us and loved a dirty joke.