I risked it a few times
When I was a horny teenager I did it a number of times.
My parents are heavy sleepers and they never got up once in bed so I would go out in the back yard naked to feel the night air.
After a while of doing that and of course jerking off, I became more daring. If it was late enough that I felt the neighborhood was quiet I would venture out of the back yard to make my way around the house to the front and back around the other side to the back. I do remember having to duck into a hiding spot if I saw a car coming or felt I might be exposed.
Damn that was a thrill.
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