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Should I cuddle with sil again?

So my sil is sleeping over again and she usually sleeps in the bed with us. Last time my wife left for work and I rolled over and wrapped my arm around her sister. Her sister ended up laying her arm on top of mine ( a sign it’s ok right?) and I started to lightly rub her stomach and kind of at her waist where her pants sat. She never stopped me and I don’t believe she was fully asleep so she definitely knew. Well my wife is going out of state and her sister is staying here for the week while she’s gone. Do you think I should do it again or not? Or maybe more?
Should I cuddle with sil again?
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