Since you're german I suppose that you can buy bread with wurst in a kiosk.
Buy one, with a lot of mayo, sit somewhere in a park or anyway among other people, eat the bread, smear some mayo on the wurst and suck it clean, do it several times untile the mayo is finished, then wrap the wurst up and take it home.
You said you like weird insertions, so probably I don't need to tell you where to warm it before eating once at home, do I?
Not to be done too often, mayo is not so healthy
Describe your bondage toys, maybe we could make a good use of them to fulfill your desires...