1. If Rick had a problem with it, he could have opened his mouth and said something. Like Mira/Henry said, they've been together for 20 years. We've seen them for a few nights at most. They know each other better than we know them. Fact. And they will continue, and SHOULD continue to do things the way they see fit or deem acceptable over the opinions of a few vocal strangers who don't know anything about them.
2. This is not the first time guests have had sex in a house before the participants. It won't be the last either.
3. Henry will continue to do whatever he wants to do. Mira has already stated multiple times that she has no problems with it. Nobody there had a problem with anything. That should literally be the end of that discussion.