Before you do it, just know it is dangerous but a few things can make it safer
Take roads that have very little traffic, in the day time (it is scary to do during the day but with more day light he could see better to drive).
How does he react when you give home one in private? Can he keep his focus completely on another task or does it cause him to loose composure? If he can't maintain focus in the bed room, how can he maintain focus going 60 mph while driving a car
Know if you get caught by law enforcement, you both could become registered sex offenders
My advice is not to do it, it's to risky in my opinion but if you do it try to make it as safe as you can
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