Shame about the undies, but appreciate you sharing all the same. Had a similar experience myself and started questioning if I had orgasmed while not realizing from how much had come out.
I've only ever tasted my own but yeah I thought that tasted really nice too. Not too strong of a taste but a bit salty.
Really nice pic. Is your precum really as white as it seems? Mine is always totally clear unless I edge a bit too far and I get a little bit into cum territory.