Not really walked in on but, one time while camping me ex and i were in the bedroom of our camper while the girls were in their beds and apparently we had the whole damn thing a rock'n, a 37 footer with dual slideouts, mind you ! We were trying to be in ,(STEALTH MODE). Then all of a sudden we hear a knock at our door and my oldest yelled " OMG, what are you two doing in there! ". Like a big dork i said ,"trying to get comfy on this new stiff matress". She was like, "whatever dad!"