Your Companions should absolutely react to what is going on under their noses. You ARE being watched. It's a small camp, not a discreet hotel.
I just hope you feel ashamed of yourself and apologise to everyone at breakfast next day. Bad man.
The weird way they have camp set up pretty much forces this. There is a perfectly good ruins area that is somewhat private. We can "decorate" camps, not sure why we can't move our bedrolls back there as well.
I don't care if they know whom I'm romancing. But they should not know about the exact choices I make during sex.... that doesn't make any sense, imo
The tadpoles most likely. Makes sense to me since companions left at camp can approve/disapprove of whatever. You know someone is going to be prying. :P