Since I'm not really an active zoo, no, never been caught. That said, the licking I witnessed DID almost result in getting caught. Someone came to the door as it was happening and we had to abort. Sucked. He was humping the air like crazy. He really wanted to fuck, and I think it would have happened if not for the interruption.
Ever talked to ANYONE in real life about your desires? Partner, significant other, friend, etc?