eavesturbate
to pleasure yourself while secretly listening to someone else's very loud and probably very bad sex
He eavesturbated through the ceiling and got a nosebleed from the sheer amount of bad sex.
She eavesturbated from the hallway and nearly fainted when she heard her mom and dad screaming like they were being killed.
He eavesturbated through the wall and started peeing on the floor when he heard his neighbor having sex with their dog.