I was once asked by a lady to regularly do her domestic chores, dressed as a maid. I was not too well at the time, plus we live quite a distance away from each other.
Another friend, after she gave me a caning, did offer me cock and ball torture, which I declined. I wish I had said yes.
Anytime someone brushes on my medical kinks my gut instinct is to shut it down as “too close” yet there’s that part of my brsin that goes “but what if we said yes?”
All of them!
I particularly regret not making a move on my first crush (especially after they admitted they felt the same). For ten years after meeting them they were a fantasy I kept locked away in my heart… all because I was too insecure to admit my feelings.
I often wish I could time travel back to my teenage years and give younger me a kick up the butt!
Would you say it was one of the biggest regrets of your life? 
After I had been to the toilet my wife offered to wipe my bum. She was going to get me to stand up and spread my cheeks. I declined and she simply shrugged and said ‘suit yourself.’
Early in our relationship, my now wife and I were in a motel on a weekend away. We were at the foreplay stage and I said I needed to go to the toilet. My wife asked if she could come too. I was caught off guard and mumbled something like “no, it’s ok, back soon”. I never found out what she had planned and have always regretted not saying “yes”. Nothing similar has ever happened.
I had just come out of a long term relationship where we had done lots of pegging I was missing it, I had a guy offer to come round and show me what a real cock felt like. Sadly I said no, iv always wondered what a real cock would be like!
Not kinky but an offer I regret not taking. Long haul flight, both stretching our legs. She went to the loo and sort of beckoned me in. I hesitated, unsure whether she had meant for me to join her. It was a little out of charcter at the time. She closed the door and the moment had gone. By the time she reappeared a queue had formed and it wasn’t to be. We have kids now so never fly without them and I remain a mile-high virgin.
@user1283 Wow! I may well have been surprised at that offer, had a lady suggested that to me.
I also, may well have regretted it. It sounds a great thing to have done.
To be totally honest… once an ex of mine wanted a mfm threesome and I was not at all into sharing her with anyone other than a woman.
She expressed interest and I said no.
That was the right decision at the time as I wasn’t ready, but… though not a regret… I wonder how it would have been had she asked when I was ready and I said yes.
A guy once asked me to wee on him. We had been seeing each other for a few weeks and took a shower together before going out. I was a bit taken aback at the time and not something I’d considered as being sexy. Looking back now I’d should have tried it
While out at the pub one evening my gf was talking to one of my male friends. I overheard her say he can cum anywhere he wants. I didn’t take her up on this in every respect 
. So many missed opportunities.
I was offered a night with someone I knew, for me at that age she was wayyyy too much for me, she frightened me as it was lol but from what I remember she was kinky, she always made me laugh. If I was to see her now I would take her up on the offer.
There have been many offers I declined , but one stands out . My ex girlfriend called me up one late afternoon and wanted me to fill in for a stripper she had hired for a friends bachlerette party . I knew all the hot , horny young women that were going to be there drinking heavily . I was pondering the idea with interest when my fire pager went off . Car in river with two occupants , dive team requested . Did not know how many others divers were in the area , so I said , sorry . Went on the rescue , we got the two young ladies ( cold water emergence ) and got them breathing and handed off to paramedics . My imagination thought about what may have been for a long time , and I still think of it often .
As the daughter of a former member of the local fire brigade, I think you made the right decision. I know how kind-hearted a lot of emergency personnel are, and I think it likely would have eaten away at you if you hadn’t been there and the outcome hadn’t been positive. Sure it’s a missed opportunity, but at least your conscience is clear.