I've done it on two occasions with regulars. The first wanted to show me his home and his wood working space. He made me dinner and it wasn't a big deal. I felt bad for him when I left - the house is clearly his wife's space and he sleeps in a twin bed in his 'own' room
The second time was because he was short on time and agreed to pay the outcall fee. Not a big deal but I was thinking they should be more careful as someone can cause a huge problem.
If you know her well, go for it. Just please don't leave her unattended and check your belongings before she leaves