Amongst the very, very first erotic experiences I've ever had was with a female cousin of a similar age.
We'd mostly experiment on each other, as we were both too young to really know anything about the opposite gender and we're very curious. We come together and just 'poke and prod', if you will. It may explain why I'm mostly into taboo themed sexual interactions.
But in my experience, she was more a friend than family. The fact that she was a blood relative was merely incidental and not the drive behind it.
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