Pretty sure they heard
During a summer break from college, my girlfriend (wife now) worked just a few minutes from my parents house. She had an hour lunch break and would often come over to hang out with me. We would spend most of the time in my bedroom. It was a small 3 bedroom ranch house with thin walls. My room was next to the kitchen.
On several occasions, family members were in the kitchen as we were enjoying quite a bit of "play". We would try to be as quiet as possible, but that damn bed was so squeaky! We ended up have sex quite a few times and enjoyed several grinding sessions (she wanted to wait, but still enjoyed getting me off) with that noisy metal frame singing its song.
I remember a few times hearing my sister talk in the kitchen saying, "do they think we can't hear them?" as the talking was more silent with a few phrases intermixed.
They never said anything to us/me...but they had to hear us.
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