Yes it is exciting I've done it quite a few times staying there naked jacking off looking through the crack of the door open when they're done they invite me into clean up the juicy creamy mess
Been lucky enough to have watched from the slight gap of the bedroom door on many occasions whilst our regular bbc bull (over ten years) takes my wife in our bed, after I have cum, leave them too it for a bit, until the sounds they are making get me hard again 😀👍