7yo Broke into Bedroom, Doesn't respect Boundaries. Help!

My husband and I checked on our kids sleeping last night and then went into our bedroom, locked the door, then went into our bathroom to shower. We came out of the shower and laid in bed naked for a while talking on private subjects. After about an hour we hear a sneeze coming from under the bed and we discover my stepdaughter,7, there. She had unlocked the door (crappy interior locking door that you can unlock from the outside with a thumbnail), came in, closed the door behind her, and hid under the bed. She definitely saw us naked and most likely heard many topics she shouldn't have been privy to. Thank god we didn't have sex but she may have seen us on a previous time.We can change the doorknob to a better lock but that doesn't solve her lack of respect for boundaries. She's come through locked doors before, and my other daughter told me, that she told her, that she hid out in her dad's closet one whole night. That happened the last night she was with us before she went to spend a month with her mom so we hadn't gotten a chance to talk to her about it. We had sex that night so there's a good chance she witnessed that. She also has no respect for people sleeping and will just come in and start talking or pound loudly on the door. We/I have talked to her many times about respecting people's privacy/boundaries but to no avail.She is very clingy and hates to be alone. She forces my other daughter, 7 also, to come in the bathroom with her when she goes. She shares a room with my other daughter but it's not enough to be in the same room she usually climbs in bed with her. My other daughter doesn't want her in bed with her and complains about it. She sneaks into the other daughters showers so she doesn't have to shower alone. She also won't go upstairs by herself if no one is there. Then when I hug and kiss the girls goodnight she counts how many hugs I give to her sister and makes sure I give her the same or more.I don't know how to talk to her so she starts respecting boundaries. I am feeling really violated this morning and creeped out. I was in my private space and she invaded that. My husband thinks she won't do it again but she barged right back in five minutes after we talked to her and kicked her out last night. He left for work before she woke up this morning and she goes back to her mom's today so it's up to me to talk to her. (We have primary custody but she is with her mom for summer vacation this month). What do I say to make this sink in? via /r/Parenting http://ift.tt/2urf690