Discretion had never been the best of Desmond's abilities. Yet, he couldn't have done a mediocre job of it either, which led him to be somewhat surprised when he met up with the girls in the morning to find all but Revna giving him some accusatory looks.
Desmond would have to have been hit by a brick with the molecular density of a mountain not to notice that they were upset. It also didn't take anything more complicated than adding two plus two to realize that they found out what had happened between him and Revna the night before.
This was one of those things that wasn't talked about much in anime or manga where harems existed, as much as certain things had been agreed upon. Even then, when everyone was a family, there would always be little moments of awkwardness like this.