Hi!
I'd recommend any game by the circle Noircastle such as
Devil Sword Luchefried and
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(2 party members) though they tend to involve tickling more than other fetishes. Abyss Cave by them is more petrification and such and is a big inspiration to Mira Co Rescue.
Forest of the Abyss 2 by sweetsprite is sorta similar
Moral Sword Asagi has a similar multiple character combat sprites similar to Mira Co Rescue and is a big inspiration.
SNEAK IN DESPERADA by Marimokan is similar though they tend to have more heavy fetishes/themes.
Signal Forces is another game with three party members by Marimokan as well.
A few examples for now. I'm sure others may have more ideas.