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I was into mild s & m years ago and the easiest thing I found to use would be something fabric typically a clean pair of knickers. To get rid of the taste of any detergent of conditioner I'd typically rinse them a couple of times in water after they came out of the machine.
There was never any problem with drool, actually being knickers theyd add to the whole scene (though I never wore them) plus safety wise I could just spit them out if I needed to.
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