It has happened, but it is genuinely rare and the consequences for anyone caught are severe enough to make it an extreme risk that very few people are willing to take.
Any sexual contact between an inmate and a staff member or outside contractor is a federal offense under the Prison Rape Elimination Act regardless of whether it appears consensual. The power dynamic between an incarcerated person and anyone who works in or enters a facility is considered inherently coercive under the law, which means consent is not a legal defense. An outside worker caught engaging in sexual contact with an inmate faces federal criminal charges, loss of their job, and their own prison sentence.
The surveillance infrastructure inside modern correctional facilities, cameras, log systems, inmate monitoring, and staff oversight, makes maintaining any kind of ongoing relationship extraordinarily difficult to conceal. The few cases that do come to light typically involve extended grooming behavior that eventually gets noticed.
The short answer is that it happens rarely, gets prosecuted seriously when it does, and the risk to anyone on the outside is far too significant for it to be anything close to common.
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