This used to actually be fairly normal (at least, within the realm of taboo social sex activities), its where the term 'swingers' originally came from, way back in the 50s/60s.
Basically, two hetero couples would just agree to swap partners, and usually have a one on one time, seperately.
... My... grandparents once actually mentioned to me that they did a version of this called a 'key party', which I think is actually basically depicted in Mad Men.
Big group meetup, bunch of couples, all the guys put their car keys into a bowl.
Fairly standard 50s/60s grilling and drinking ensues, but the party ends with the wives picking random car keys, and going home with whoever owns that car, then they all make phone calls and get picked up the next day, by roughly midday.
So again, not really the modern, more humiliation /dom / sub oriented aspect of cuckoldry.
Like, technically, sure, all the men involved are cucks in the sense that they're willingly letting another man fuck their wife, but they weren't usually present for it, that would have marked you as an extreme weirdo back then... oh right and other part of the deal is you are also fucking someone else's wife.
So yeah, this used to be a thing, fairly different from the modern conception of cuckoldry.
It wasn't 'group sex', ie, more than 2 people.
It was many pairs, temporarily repairing.
I guess kinda like how dance halls used to work back then, when that was a fairly common social thing to do.