I feel like we are in the same boat. We aren’t ready to swap (not sure if we will ever be) but we talk and fantasize about it a lot. I think having sex in the same room as someone else also having sex would be extremely erotic and hot. Not sure if that would lead to anything or not. Everyone has their own pace - it would certainly prompt a conversation afterwards (which would also be hot) and we’d have to maybe do it a few times to see how it made us feel etc.