How do I invite myself to a sleepover at my crushes house?

beequeenbops
I like him, I am ready to explore our connection sexually and spend some alone time with him at night. How do I ask him, how do I set the mood. I almost feel rude inviting myself over... but he can't stay at mine because of my parents being here.
How do I invite myself to a sleepover at my crushes house?
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