Sleeping at my bf

I’m 17 years old and my boyfriend is 18 and his parents are perfectly okay with me sleeping over we’ve been dating a few months now and no we don’t want to have a sleepover just because sex. We do live in different towns about 25-30 mins away from each other and it’s annoying to be home by curvews. Do I lie to my parents again(I’ve done that before just felt bad and always felt on edge even tho they never found out) or what is some advice to talk to my parents and let me sleepover.