living in parents home

My bf (20m) and I (20f) both live in our parents homes. Sometimes at his house we will be touchy or ill do oral… but I don’t know how I feel about it because his parents are like 3 rooms away always with their door open- it’s kinda a vibe killer hearing people walking or using the restroom it makes me nervous that someone’s going to come in. We lock the door, but things like the dog getting scared from fireworks or loud noises causes the dog to sit out by the door and his mom will come by and ask to bring her in. Thankfully we’ve never had a close call… but I don’t know it just feels awkward and makes it hard for me to get into the mood. Bf doesn’t seem to have a problem though… Usually we don’t do stuff until after 10pm because his parents are likely asleep but sometimes they aren’t and I don’t know it’s like our only opportunity to do stuff for the time being. We used to be able to do stuff when I lived at college but we’re both commuting now… we haven’t had PIV sex in months because im scared of making noise and i think he may be for that too… I used to not want to do ANYTHING because it felt wrong knowing his parents were home but he talked to me about it and I knew it was kinda important to him…. Sometimes he gets in the mood early in the day and i’m too scared to do stuff. His parents are pretty religious and if we ever got caught I think I might just have to pass away. I don’t want to stop because it’s the only chance we really have because both of our parents are nearly almost always home but it’s also so awkward and i feel so guilty….