@mjbruns,
It is absolutely OK for two consenting adults to sleep and shower together.
It is not clear whether "sleeping together" in this context implies that they are having sex. As a heterosexual male, I would find it very difficult to sleep or shower with a woman that I wasn't having sex with. I would certainly consider sharing a bed or showering with a woman to be foreplay, and I would want actual sex.
There nothing wrong with casual sex (or any time of casual sexual activity) between adults as long as both sides want and enjoy it. In my personal experience, these "friends with benefits" things, are far less gratifying that I want and I end up either getting bored quickly, or my feelings escalate.
I enjoy showering with a sexual partner. It is fun, and sexy. It is definitely part of a sexual relationship. I can't imagine showering with a female friend that I wasn't in a sexual relationship with.
Can we have more details?