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There are lots of places. You just have to be creative. Yes, I think you can get arrested if it is too public (i.e. right in front of people) since it could be construed as public indecency.
Places the wife and I have done it include a public park (in a back area that very few go to), hot tub at various resorts, and the ocean in water that is just about mid-chest deep with people around us.
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