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Suffice it to say ancient Jews and Muslims were more conservative on this stuff than our pagan ancestors. Here is some of what Ibn Ahmad Fadlan, an Arab from Baghdad, had to say about the Rus, which were in reality some eastern Vikings or Norsemen, or simply Swedes.

"I saw the Rus, who had come for trade and had camped by the river Itil. I have never seen bodies more perfect than theirs. They were like palm trees. They are fair and ruddy. They wear neither coats nor caftans, but a garment which covers one side of the body and leaves one hand free. Each of them carries an axe, a sword and a knife and is never parted from any of the arms we have mentioned. Their swords are broad-bladed and grooved like the Frankish [i.e., Western European] ones. From the tips of his toes to his neck, each man is tattooed in dark green with designs, and so forth…"

"When they arrive from their land, they anchor their boat on the Itil, which is a great river, and they build large wooden houses on the banks. Ten or twenty people, more or less, live together in one of these houses. Each man has a raised platform on which he sits. With them, there are beautiful slave girls, for sale to the merchants. Each of the men has sex with his slave, while his companions look on. Sometimes a whole group of them gather together in this way, in full view of one another. If a merchant enters at this moment to buy a young slave girl from one of the men and finds him having sex with her, the man does not get up off her until he has satisfied himself."

https://qcurtius.com/2018/11/21/ibn-fadlans-unique-travels-in-central-asia-and-rus/

Public nudity was also common among them and women were assertive in initiating sexual relations. Scandinavian women, it is fair to say, have always been comparatively 'liberated'.

Near as I can tell this kind of attitude was pretty widespread among ancient Europeans. Ancient Rome, Etruscan sex rites, Druid sexual magic, Greek nudity, etc. When conservatives call our culture pagan they are probably more accurate than those that call it Jewish. Needless to say the Bible is not notable for being friendly to more permissive mores.