[f]Sex with my [m]partner multiple times while camping while our friends were asleep(?)

This past summer my boyfriend/fwb that I’d been with through all of high school(both 18 when this story takes place) and i made a plan to go on a backpacking trip. Honestly the primary purpose of this plan was getting to sleep together and have sex in a tent because we’re both kinda outdoors freaks lol. We invited two other male friends in order to make it less suspicious to our parents. We live 16 hours from the nearest mountains and had a plan to camp on the way, and somehow we had convinced them that it made sense to bring 2 tents for while we were backpacking but then also 1 big one for while we were driving. The first night we pulled into our campsite and set everything up, had dinner and got into our sleeping bags. I could feel him pressing up against my ass, rock hard. I was nervous about friends seeing but honestly way too turned on, so i rubbed it first with my ass, then pulled it out of his pants and pressed it between my thighs. I’m usually quite loud, and it took all my willpower to just lay there as he pushed deep inside me. I turned my head to kiss him and he leaned in, kissing back. We stopped as one of our friends shifted in his sleep, paralyzed in fear of being caught. Then slowly we kept going. I don’t think he meant to finish, but i got too excited and he came on my thighs. We had no real way to clean up, I’m pretty sure i used socks at first? And then i said something like “fuck, i spilled my water bottle” which is really stupid in retrospect. He also gave me his button up shirt to clean up with. (….the next morning i had to watch helplessly as one of my other friends casually put on the shirt and wore it for the better part of the day…yikes)