IMAO, grown men do not take baths. Having said that, there are plenty of families that:
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Kiss on the lips (if just a peck)
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Take showers with their newborn children (in a non sexual way)
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Have their very young children sleep in their bed (again, in a non sexual way).
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Breastfeed up to 5 years old.
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Are even nudist.
Most anons here would gasp at most of these. Millions of people in the world don't see an issue with 1-3, and I bet you'd be surprised at how many people have 0 issues with 4-5. The nudist shit really sent my head for a loop when you learn people actually put their photos online for all to see.