I have a couple of nonsexual, accidental examples - both times it was a room mate walking in on me naked.
First time I was in the shower and my room mate stormed in to tell me that the shower was leaking into the kitchen. I was part way through washing my hair, so my (male) room mate so everything in full glory and made no attempt to disguise the fact he was looking at my cock. I had long suspected he might be gay, or bi and this confirmed it - there was no "leak" into the kitchen
Second time, my female room mate asked me a a question through my bedroom door and when I answered assumed it was ok to come in. I was just pulling my boxer shorts up as she walked in and her eyes went straight to my cock. She did at least scream and apologise (not that I was bothered)
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