I love it. Def something you need special permission for from who you're with, but also I'm the type who literally never minds waking up to something happening, I'm just a slut for it.
As long as both parties agree while still being conscious and of sound mind, go for it. But if you didn't ask your partner before "surprising" them while they're asleep, that's literally r*pe.
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(Universal "you", not you- Aura- specifically)