Car with foggy windows at night, do you assume people are having sex?

Backstory, me and the guy I’m seeing parked in an empty area near the water. We had sex and when we finished he accidentally hit the roof light and it turned on. I then noticed a car behind us that wasn’t there earlier. They then left a few seconds later. I was so embarrassed and he was laughing. I’m thinking they knew we had sex (both living with parents problems 😩)

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