Wait! What? There's a scene with Ciel and Filo?
Hm, I think Cosmic Abduction and Queen's Legacy might be to your liking, those aren't RPGs but you have to fulfill several quest. Queen's Legacy is a side scroller with some action but not like the average action side scroller where you just run through the levels fighting enemies and where HAVE to lose to get any scenes, it's more like a very light metroidvania. I mean yes, enemies will start to fuck you when you're knocked down or defeated but it's not the basic part of the game. You play again a female warrior who goes to a big city because she wants to become the new queen. The city is the game's hub area where take quests from the mayor, can visit shops, talk with NPCs, get side quests and so on. You can level up by finding upgrades and not by getting exp from battles. You can also start working at the brothel or just whore yourself out if you want to.
Cosmic Abduction is from the same developer, is also a side scroller but no action at all this time. You play a school girl who gets abducted to another planet where sex is nothing special. There is only one guy who has ship with enough power to take back to earth but you need to get 5 cosmic stones for him to repair his ship. So you wander around, playing sex games with NPCs, doing quests and since you also need a lot of money you will have to start whoring. There are some light RPG elements, depending on your actions you get points for stamina, lust, dexterity and charm. For some quests a certain level of one of those stats is needed or some task and minigames get easier with higher stat levels.
Both have an official english translation but are unfortunately still censored.
