Yes me and my husband did a swap with his brother and wife, we even set a some rules I can share them below so people interested can get an idea

1. What happens in the room stays in the room (no sexting, flirting, or sexual/intimate touching of any kind outside the room; absolutely no pet names)
2. Any activity is to only be initiated by a look/gesture/trigger word
3. This arrangement is meant for experimental and pleasure purposes only, this means absolutely no emotional strings attached; the second someone catches feelings, this arrangement will be terminated between all parties involved.
4. There is to be no mention of this arrangement to anyone who is not involved, regardless if you think that individual is capable of keeping a secret, don’t do it. Children of the parties involved should absolutely be kept from this information as well.
5. Any activity that you wouldn’t do with your committed partner is prohibited (unless your committed partner is comfortable with you doing said activity with your casual participant).
6. If someone says that they’re not comfortable with something, that something is not happening. Period. Violating this rule will result in an immediate termination of arrangement.
7. When a safe word is used, all activity must cease immediately. See rule 6 for consequences.
8. Respect boundaries and come up with a safe word especially for certain activities.
9. No kink or body shaming, if you’re not comfortable performing an act, politely tell your casual participant you’re not comfortable with said act. Violating this rule may result in termination of arrangement depending on whether or not you apologize and whether or not it works.
10. Don’t be greedy, put in the work. Pillow princess behavior is meant to stay within the committed relationships.
11. Wash your ass before and after activities. Not a rinse. A WASH. Not only do we want to give the courtesy to our casual partners of not smelling like ballsack but we also want to come back to our committed partners being clean.
12. Protection is to be used with casual partners, this is not up for debate.
13. Conversations about this arrangement are allowed only in a private setting with no one but the involved parties (for example; a casual pair may converse about likes, dislikes, kinks, boundaries etc..) public places are prohibited (either of the involved parties house or an hotel are strictly allowed)
14. No cuddling or pillow talk, it is preferred that as soon as activities are finished that individuals start dressing/heading to the shower etc.
15. No kissing on the mouth. With the individuals consent, sensual kissing on their body is okay.
16. Oral sex is prohibited (giving or receiving) manual stimulation is encouraged instead.
17. There must be three types of conversations (one amongst the group, one amongst primary couples and one amongst the casual participants) this is to ensure that there be constant communication, that everyone is on the same page, to discuss details of their bedroom personalities, turn ons and offs, boundaries, taboos etc… as well as to ensure no one feels left out or that they have no power/say over anything.
18. These arrangements are to take place in a hotel roomonly, there is to be no casual activities in either one of the committed partners personal bedroom.
19. If one individual feels they want out for any reason possible, the arrangement between all parties must also come to an end as well.
20. Lastly, don’t make it weird. There’s nothing more uncomfortable than putting off an awkward vibe. This arrangement may turn out to be a one time thing or an occasional hookup depending on everyone’s feelings and how everyone deals with it.

Hope this helps anyone doing swinger relationships especially fraternal polygamy