It looks like you and I are on about the same hairy/horny level. I often need to do this when I'm out driving to relieve stress. I'll get a full erection and even start pre-cumming without even having touched my dick yet. I'll pull into a parking lot where I can have reasonable privacy, pull down my pants with my dick standing at attention and just do it right there. I have a full body orgasm and make sure I have my worn out t-shirt in the car to ejaculate that load of sperm into. I'll wipe my penis, take a minute to compose myself, then pull my pants back up. The nice part there is that there's no mess getting onto my clothes, upholstery, not to mention into my pubic/thigh/stomach/chest hair. It HAS happened in the past, but no more. I can get totally carried away with the t-shirt right there to catch it all, which is quite a bit. If anyone ever needed proof I NEEDED to jerk off because my dick was driving me crazy (in a good way), the evidence is right there.