cumming together with my (30m) good friend (27f)

I've been with my current gf for just over 4 years and for the last year and half our sex life has been non existent. Maybe once every couple months. I love her, but I'm starting to become very sexually frustrated. We've chatted about it a few times, and everytime she has promised to try to be open to intimacy, but nothing has changed..

Last week, I hanging out with my good friend who is also in a similar situation with her girlfriend, and we were sharing our frustrations over a joint on her balcony..

We eventually started talking about porn and it got to the point where she said "ah I'm too horny, I need to go rub myself and get off.. do you mind if go inside and do that?" I honestly had no idea what to say mostly because of the weed, but I think she took my silence as a "yes I mind"...

She then said "ok I mean if you want to also get off we can put on some porn and get off, just don't make it weird"

Her girlfriend is out of town for work for a month so we sat on her living room couch and she casted some solo girl porn from her phone and lit another joint. We have been good friends for a long time and honestly have never even had flirty vibes between us so the fact that we were now watching porn together and both trying to cum was a whole new side of our friendship. She was wearing tight leggings and started rubbing herself on top of her leggings&panties and pinching her nipples from underneath her shirt. Trying to be respectful, I didn't whip out my cock from the jump and just started rubbing my cock overtop of my boxers.

After a few passes of the joint and a couple more solo girl masturbation videos. She passed me her phone and said "here pick whatever freaky shit it is you get off to and cum, I'll do the same after"

I picked some bi gangbang video (something I knew she would also be into based on our earlier conversation) and pulled my cock out of my boxers. I had built up enough pre-cum that lube wasn't needed. While I was stroking, my friend peeled off her leggings but kept her underwear on, she was wearing that classic grey Calvin Klein underwear and it was completely soaked through. She moved a bit closer to me and started fingering herself and moaning louder than she was before, her pussy sounded amazing it was soo wet and the room now smelt like weed, cock, and pussy.

Once I noticed that smell I knew I wasn't going to last much longer, a few more seconds of stroking and I was shooting ropes all over myself.

After a few seconds of catching my breath and realizing what just happened, I really just wanted her to finish so we would both be in a state of post cum clarity. I picked up her phone and asked "what kind of video do you want cum to?" She just shook her head and kept looking between me and the tv and started really fingering herself hard, like she was trying to get herself to squirt. She didn't squirt , but she came really hard and was moaning and twitching even after she took her hand off her pussy. I was rock hard again lol

We both cleaned up, put our clothes back on, smoked another joint, ordered door dash, and watched Seinfeld.. it was right back to just two friends hanging out again..

We both agreed that we wouldn't say anything (yet here I am telling the internet) and that if our partners found out they would surely call us cheaters.

But I dunno, I mean don't get me wrong I would totally fuck her and if she had asked me to during that moment I would have most likely done it, but I think given our sexual frustrations, two friends getting off and not touching each other doesn't feel like I cheated...