Life is in stages and growth is part of life. Growth is not passive. It is the result of changes overtime.
You've known me since childhood shows that I'm no longer a child at the moment. So I have my life. What I do with it shouldn't be based singularly on how another person feels.
If I choose to have sex with anybody, I won't live in denial. I'm ready for the consequences.
I know it would be embarrassing both to myself and the person who saw me in the act but life goes on. In fact, the chances of this happening is very slim. What happened to under the sheets. What happened to locking up the door? Except of course you mean rape which I don't think is the case with this question.
People have their lives to live. It really would be nice if grown adults act with discretion and minimal interference. People have a right to their privacy. Don't intrude.