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There are non-sexual interactions.  They are found under the Meet tab in Interactions. You don't need to kiss them to increase Loyalty. You probably will need to give them a manly hug or two. You can also have your slaves have sex with each other. You do need to watch them have sex, but otherwise you don't need to be involved.

but problem is, if you want to build relationship with others, including only your slaves with other slaves, without any sexual relationship, you have a "small" problem.