Yes, plenty of times. On family vacations next to sister and parents. Next to cousins.

Soccer sleepover camps in summers.

So many times in dorm room with room mate.

I remember being young and grinding the bed or couch face down and it feeling good, but never did it till orgasm.

My first real orgasm was right after my 12th birthday. My cousin slept over in same bed. He woke up in morning with morning wood. Asked me if I touched myself. Said yes, but didnt know he meant masturbation till he explained more. He started to do in under the blanket and gave me some pointers. I started to rub under the blanket too not really knowing what the end result was. Felt like I needed to pee, but he said just continue to rub. Next thing I know, my dick is pulsating and it feels like my dick has taken over my entire body. I dont feel anything else on my body but my penis contracting and expanding. Nothing really came out but a very small liquid (not cum). From there, I was hooked.

On my dads side of family: Grandpa - uncut, Uncle - uncut, Dad and cousins - cut