Thanks for the variety of responses. So far I ended up rescuing our soft noble girl and have basically been piggybacking off of rat and hers free labor.
For the route of succubus I’m not sure. Mouth and hand skill seems to fluctuate somehow in skill levels I’ve yet to discover what’s causing it while the other two I’m aware has conditions that wear down due to sex.
my approach when I play again I think would be to leave them at the map entrance and sneak/screw my way till I hit a mob I can’t do that with then go get em and just let them clear it out