>>294487565
VRchat but you either need to go to an organized orgy that happens rarely or infiltrate multiple groups that sometimes do these stuff.

You can also just be lazy socially and get Waifu Sex Simulator and setup canned animation FBX files in a setup of your choice. Koikatsu can also help you with that. Koikatsu is definitely better for that.

Hardmode is setting up your own using VRchat map making but this way you can use fully custom models you made or bought from booth.pm