Isn't this more just exhibitionism rather than any kind of swinging? To me the idea of "soft" swinging would perhaps be some mutual snogging and fondling, touching and caressing in a swap or group environment, without any actual intercourse.
In any case, have you considered going on chaturbate or similar cam site? Sex in front of other people through a screen rather than in the room itself might be way to step towards/work upto it? It's certainly easier to arrange/organise than doing it in person. Also you can make sure your faces are out-of-shot or wear ball masks etc if exposure to (potentially) hundreds or thousands of people is an issue.
Have fun and good luck!