I have played both. Companion has WAY TOO LITTLE sex for an AVN, and WAY WAY too little for an AVN THAT LONG, sorry. Cross Realms, indeed, SHOULD just become a VN, and drop the Adult parts, because they really do nothing, in fact, in my review for the game, I say JUST THIS.
But you have made my point. Games which focus on a realistic, deep, well written narrative.... ALWAYS fail, in regards to their Adult content, just like Companion of Darkness and Cross Realms, unless the MC or the world having a heavy sexual/sexualized nature is written in CORE to the story... because such stories DO NOT lend themselves to copious amounts of wild Sex.
Sorry, I prefer my AVNs DO have COPIOUS AMOUNTS OF WILD SEX. For that, I will take some tropes, and some simplistic dialogue, and bat shit cray cray prepositions and tenuous associations and logic. If those things are need for the MC to bang his mother, sister (legal) daughter, and his doctor, and lawyer, and (female) best friend, and neighbour, and neighbours daughter, and best friends mother..... whilst on spaceships careening out of control towards blackhole ... wormhole... that will take him to the land of the Space Elves.... where he must fuck the Elf Sorceress Queen in a Sex battle to the death, to save the world from Demoness that has fallen in love with him and been R-wording him most the game.....because you CANNOT have that happen, without some tropes, simplistic dialogue, crazy unrealistic premises.
But for ME, THAT is MUCH better than some 'narratively realistic and sophisticated immersive story'...... that does not GIVE ME ELF ORGIES and let me bang everyone in my household.. and on my block... multiple times in a week.