lol, yeah, I'm glad you mentioned Rebel Galaxy. A lot of times, I play a game that I think has great mechanics or a great premise, but I lament that I wish it had some erotic angles. Like, they would only have to take a single step further, but they don't. Rebel Galaxy Outlaw is one of those games. So is Darkest Dungeon.
That's kind of why I wanted to start making my own games. Of course, I don't have the time, resources or even the skills to make anything quite like that. But, if I can capture some of the spirit, and inject just a little bit of lewdness, I'll be happy with myself.
I guess that captures what I try to do (not sure if I really land there); I don't want to make a lewd story with game mechanics in it. I want to make games with a lewd story in it. xD
There's a couple games out there that really do capture this, though. I particularly really like Lust For Darkness / Lust From Beyond. I think they really captured a good mix of gameplay, atmosphere and a very lewd and dark story. I also really liked Haydee 1 and 2. I liked Haydee 1 in particular, because it didn't try to be shocking. The base game didn't have nudity, but the erotica was certainly implied by the setup, situation, camera angles, etc. Really good stuff, imo.
Edit: Oh yeah, and Path of Exile had some pretty sweet artwork... They have updated it since, but there used to be pretty elegant topless women statues around the health and mana bars in the UI. :O You can dig into the lore of the game by reading some in-game items, and one of the women antagonists used to actually work as an escort to further her agenda, and slept with a guard that you fight later on. Her writing was quite intriguing.