nothing gets out of your brain on its own, except heat.
I heard a recording of a song made by reading a brain that was thinking that song. It was far from perfect, but you could tell which song it was. I'm no neuroscientist, but if that information can already be plucked from a brain, surely that's proof that reconstructing thoughts is possible to some degree?
https://www.sciencenews.org/article/neuroscientist-pink-floyd-music-brain-activity
This is objectively within the bounds of "normal" human experience. It's seen in primates and other mammals too.
Sleeping in the same bed as your family was the norm for a long while, across many cultures. It was also perfectly normal for say a noble to sleep in the same bed as some of their staff, or for merchants or other traveller to share a bed while on the road.
Most people in many western cultures would probably find it weird, but they're the weird ones for needlessly sexualizing the act of sleeping.