Yes. Or at least used to be. Yuuri and I would take baths together at the castle. [ which happened only whenever Wolfram managed to sneak into the King's personal bathroom. ]
Also, since we, our traveling group, traveled a lot we would usually take baths at public places together. [ That 'we' almost always included Yuuri, Conrad, Jozak and Murata, among others. ] Didn't you do that sort of thing at your world?