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 i don’t want to 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 before curvew. Do I lie to my parents again(I’ve done that before and said I was sleeping at my friends just felt bad and always on edge but I didn’t get caught) or what is some advice to talk to my parents and let me sleepover. I want to be honest with them I just don’t know how to talk to them about it.