37F Been edging for a bit after work - looking for a friend to help me "get there"

It's as simple as it sounds, I need a friend to help me over the edge! I always struggle to get there without someone to chat with, it really turns me on that you know what I'm up to while we chat. I like fantasies of watching and being watched, semi public places, and such - I'm a sucker for romantic vibes but I also like when friends aren't afraid to be forward! Bonus points if we can get off together <3