I love that there's a word for this. It's from the Dictionary of Obscure Sorrows, which gets more incredible the more I explore it.
@unsuspicious
midding
n, the tranquil pleasure of being near a gathering but not
quite in it—hovering on the perimeter of a campfire,
talking quietly outside a party, resting your eyes in the
back seat of a car listening to friends chatting up front—
feeling blissfully invisible yet still fully included, safe in
the knowledge that everyone is together and everyone is
okay, with all the thrill of being there without the burden
of having to be.
Middle English midding, alternate spelling of midden, a refuse heap that
sits near a dwelling. Pronounced “mid-ing.”
Hachnw