basically what I want to know is can the main character get aroused in combat. Is it possible for your character to have sex with the enemies vs getting raped? Like when my character is lying down prone the enemies get aroused
Get the taunt skill, it arouses both you and the enemy. Your enemy usually goes full mast after you taunt them once but you need to use taunt 2/3 times before you're fully aroused.
Also if you manage to get your enemy off balanced you can take the lead by riding/mounting them depending on who you're fighting. Riding them is pretty straight forward but if you want to fuck them you're gonna have to wrestle them on the ground for a bit.