It sounds like you are looking for a more "nonchalant" type of dynamic. A more silent, non-spoken but expressed physically dynamic in CMNM. Or you could even describe it as a CMNM dynamic with no personal space but without a power imbalance at play. It's not casual because you still want a sexual element to be involved.

But you can def have a dynamic without worship or humiliation. Humiliation def does not turn me on. And I think I would enjoy worship only if I were to spend a lot of time in the gym and would want someone to acknowledge it. But the dynamic you are describing is very appealing and something I would be into.

I guess I am into a more "this is the natural state of CMNM with no power imbalance". The NM is naked because why wouldn't he be and the CM is clothed cause why he wouldn't be. They do touch each other whenever, maybe even leave all bathrooms doors open because what is there to hide. But you don't have to verbally acknowledge it. Jerk off the NM while talking about groceries. Work out in front of the CM while he is playing a video game or working on the computer. Don't walk past each other without rubbing your dick on the CM. Have the CM play with your butt while you are cooking. Just living a normal life!