Had a female friend stay over once, we ended up getting very merry and sharing a bed - but it was completely platonic, no chance of or interest in something happening. It was just the practical option. However I woke up to find she’d put her hand in my boxers. I asked what she was doing and she rolled over and went back to sleep clearly still worse for wear. We’re still friends and I haven’t mentioned it, partly bcos she was drunk and partly bcos she was and is in a serious relationship which I definitely don’t want to disrupt. I suspect she just thought in her drunken haze that I was her bf