I don't think I remember there being much mention about the issue of privacy concerning the swordians. The only thing that comes to mind is Leon bathing with Chal. But it has to be something they've all had to work through and decide boundaries on. Changing clothes, bath, toilet, jerking it, and if fanfic: various levels of intimacy with partner.
On that side, a lot of us just kinda tend to ignore the swordians when it comes to intimacy lmao we just skip over the part where they have to figure out a way to ditch the swords for a while; they're just conveniently absent.
Leaving their swordians with someone else for the night or a random part of the evening is a pretty obvious tell in itself. Not only would the swordians know, but whoever they leave them with would pick up on it eventually too. Unavoidably announcing that they're off to knock boots.
The only other alternative is just letting whichever swordians are involved be around or nearby. They're already going to know anyway, so there's not much point in trying to be sneaky about it.