Few, ny (not sex) friend's mom caught me with her boyfriend while I was sucking his dick. It was a big surprise and embarrassing at first, but after that she didn't say anything about it.
Was naked in the hot tub with a guy THe wife came home early, looked out the patio door to see us hard and stroking each other
I don't have any hot sexual embarrassment to share like other guys. I just once came out to a new friend because I thought he was bi or gay as well (he wasn't, but I luckily didn't ask him out before he told me he was straight but fully accepted me). And another time more recently I accidentally outed myself to 2 close female friends because I thought they already knew, but they didn't. My ex-girlfriend while we were together told me that she outed me to them both a year or so into our relationship because she needed people to talk to about my bisexuality (which I told her all about before we started dating): what a lier, as she clearly only said it so that I feel private embarrassment whenever I'm with them (she was and is quite manipulative). I never spoke of it with my two friends, not until present day. I felt even more embarrassed this time with them than with my male friend, but they fully accepted me too. So I've been lucky so far, assuming you feel bisexually embarrassing yourself a negative. I see clearly now it can also be desired and even a fetish. I'm certainly not there yet, though I do have a kind of sexual gay exhibitionism in me that I haven't acted on yet. I have however displayed affection in public with guys I've been on a coffee, dinner or dancing date with, but that's only on display to strangers, felt great (freeing) and not embarrassing.