Co-op sounds insufferable for a turn based game with dozens of options like this one but I could see a party system working .
You could have your "slaves" or recruit Pawns with high enough reputation towards you go around with you as a crew/gang, that way in Battles/Punish scenes you could utilize a bunch of the already existing animations that involve 3 or more characters and weave them into the combat, e.g. have you or you pawns restrain an opponent during battle.
Also mid fight grapples would be hype, like having lust moves during battles actually be represented with animations that build the Lust Meter.