We did when the kids were very little but haven’t done for years. I remember walking in on my parents at it in their bedroom when I was about 6 and DH did on his parents too when he was 10 or 11. As a result, we never have done - only when kids out or we on a kid-free weekend away. I am told this is not normal? Normal to me though - but my kids are all away at uni now so we are making up for lost time!