I'm fairly certain it is within Haley's personality to have considered it many times already.yeah that happened, but they have not done anything together, directly
Angela got pretty worked up having Haley hovering while riding the MC on her couch. At the time I wondered if this was Haley getting her mom comfortable with the idea of having her involved in the fun. Nefastus has done a great job of showing just how depraved Haley is and what she wants.