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I'm sorry this isn't what you're looking for..
Similar but different. The younger brother peeping this Best Friend of his older brother jerking while his brother is sleeping.
https://www.mangago.zone/read-manga/fxxking_teaching_team_hazama/
its about the younger brother inlove with the Best Friend of his older brother. I remember this best friend hates being touched specially by the young seme and it was because of the past when younger seme kissed him while sleeping on the sofa (if i'm remember correctly (