My Secret Nighttime Fun With My Spouse

I’ve been married to my wife Jane for five years now. We have a wonderful life together, two kids under the age of four, and a house in the suburbs with all the usual trimmings. But there’s something about us that isn’t so ordinary, our nighttime routine has become quite intriguing lately. My wife is incredibly busy with her career as a nurse, long hours on her feet at the hospital followed by caring for our kids leaves her exhausted most days. I’ve noticed that while she sleeps like a log during the day when we’re both off from work, her energy seems to ignite once it’s night and the kids are tucked in. One evening about three months ago, she surprised me with an unexpected request after the kids were asleep, she wanted to play a game. At first, I thought she meant something like charades or cards but quickly realized we were going into role-play territory. We started small, just some light teasing and pretending we were strangers meeting at a bar, but it grew from there. Jane has become quite adventurous, taking on different personas and scenarios that range from mild to intense. I’ve been her boss, her student, even a complete stranger with whom she’s exploring the idea of anonymous encounters in public places. Each time, we set clear boundaries beforehand and ensure both are comfortable, but there's always this undeniable thrill. The most recent scenario took us to an edge I never imagined I’d be willing to cross, she became an undercover detective who needed information from me. We ended up acting out a scene where she interrogated me, which turned into something more passionate and intense than usual. Despite the role-play aspect, there’s no mistaking that it's not just about playing pretend; there are real emotions involved. I’ve been reflecting on this quite a bit. Is it normal for married couples to explore such intimate roles with each other? How do others handle these kinds of desires without feeling guilty or out of the ordinary? Should I be concerned if our kids find out, even though they would never see us engaged in these activities? Any advice you could offer would mean a lot.