We are very similar to you, haven't crossed over to full swapping, but have had a lot of fun with the few soft swap experiences we've had. Best one was in Vegas (go figure). We were approached by a couple with a card game called Intimate Combinations that starts with just some group play type kissing stuff and builds all the way to some pretty crazy full swap stuff. While we only looked at those cards afterwards, there were a bunch of wild soft swap cards that we had a LOT of fun with.
It wouldn't surprise me if we eventually get into some full swap, but we've had a ton of fun playing with other couples.