Our daughter was always a sound sleeper, and I never made a great deal of noise when I was being tickled (I'm a soft giggler, a low moaner, and I never scream). Our tickle-torture time is no different than other couples having sex the conventional way.
We did tell her never to open our bedroom door when it was closed and not to knock unless the house was on fire. We live in an old farmhouse and we have keyholes in the doors. She could have peeked in and seen me tied to the bed, naked as the day I was born, with her father tickling me. Nothing was ever said, so we assume she doesn't know what we do alone together.
As I said, she always slept soundly. As a teenager she could sleep through a nuclear attack, I believe. Since she's been at college, she doesn't even come home until 3 a.m. anyway, and until 1 p.m. all I see on her bed is a lump with hair at one end and feet at the other.
Love,
Jean