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I believe it greatly depends on the age of your children and their level of maturity. I'll be turning 19 in a few months, and I'm fully aware that my mother has sexual relations with her husband. I've accepted this situation as something normal and part of their intimate sphere, which doesn't concern me.
My stepfather often works nights, so the day after lunch, they retire to their bedroom. My mother lets me know that they need privacy, so whenever possible, I leave the house or go downstairs to study, not disturbing her until they come out.
I caught them once, about three years ago, shortly after they got married. I opened the door without knocking, and I can guarantee it was a scene I would have preferred not to witness.
I subsequently received a punishment that I never wanted to experience in my entire life.
Since then, I've learned my lesson, and it will never happen again that I invade their privacy.
Therefore, even though they don't lock the door, I prefer not to knock at all and wait for them to come out on their own. Moreover, just a few days ago, they told me that they would like to gift a younger sibling to my little sister and asked me if I would like that. It's clear that in order to have a child, sexual relations are necessary.