does being friends with benefits work?

This is a bit lengthy!

so we're two from group of friends and the other night we hooked up. we were going out with our friends, and there was 6 of us so to many for one car so I offered to get a uber with him. we went back to his on the way so he could get changed before we went out, it got hot real quick when we got there. then we ended up going out and meeting up with our friends like nothing happened. all our friends ended up leaving fairly early and didn't say they were going so it was just us two left, I was supposed to stay at another friends and by the time we left it was like 4 in the morning so he offered me his couch. Anyway we got back there and both ended up on the couch, had sex again and cuddled all night. The next morning we did it again😂 that day we ended up going and spending the day with some friends, everything was normal. we agreed If we continue this, not to tell anyone which I'm completely okay with.

now my question is, could we come out of this friends? we are good friends so I couldn't deal with us being fwb then when one of us want to end it and our friendship going to shit.

Has anyone of you girls come out of fwb still friends?