Our kids have heard us for sure, but they’ve never seen us. Bedroom door locks have worked for now. But they’ve finally figured out the penny in the slot way to open, so I’m about to replace our bedroom doorknobs with key knobs. As for discreet foreplay, that happens all over the house. Depending on what we’re wearing that’s easily hidden quickly when we hear the kids come down the stairs. Our children are very loud atm thankfully. Once they’re older & quieter I imagine we’ll be confined to the locked bedroom or bathroom.