What I suggested wouldn't change the core of the game. It would still be about setting the pace, just without the prompt. The issue is that setting the pace, and having a prompt are diametrically opposites.
I think your vision would be better implemented if instead of a prompt, you had a optimal pace range. With at the start having the player press Z every 3-5 seconds, and the further it goes more frequently. Which is pretty much how it works already, but without the prompt. Also it would be less mechanical, as instead of a glowing dick, the player can pay attention for what the partner is saying, "Faster", "Slow down", etc. And with different partners having different optimal paces.
Lastly, you keep saying people don't get the mini game, to everyone that complains about it, but that's not true. I did get it. I was able to play the demo. That doesn't mean the minigame is good. It's not about difficulty. No one thinks Dark Souls is a bad game for being difficult. What people are saying it's a bad mechanic. And of course the people in your discord, who have played the most, are more accustomed to it.
Having an easy or storymode doesn't fix the issue.