I have no problem with the portrayal of sexually driven characters in BG3. I think they exist in the real world so it is fair enough to represent them in the game. And correspondingly, I have no problem with the sexually explicit interactions these characters can have with the protagonist, should you desire it.
What I do have a problem with is the overrepresentation of sexual promiscuity. It would be nice to have some characters who are less sex-positive. I think of all the romancable characters, the only one who doesn't shag at the party after saving (or sacking) the grove is Shadowheart, and she gives it up not long after. (Am I right in thinking only Jaheira and Minsc are not romancable?) They are pretty much all unreasonably and unrealistically horny. There is no seduction or romance - just sex - and it makes relationships feel very empty and hollow. It is ironic how a game that claims to be so inclusive is so very exclusive in this regard.
I am a undecided whether this was a deliberate ploy by Larian to create publicity and attract a crowd of influencers who would never normally cover RPGs, or whether it was just Larian being a bit Dutch in their worldview.
Wyll won't have sex with you at the party either. I think, both him and Shadowheart have their first and only sex scene in act 3. Which seems to be pretty reasonable, given that by then you are dating for a while.
Karlach would love to have sex and generally be able to touch , but she can't, so you don't have sex with her either. If you tell her, you are interested, you can have sex with her in act 2, but you can also tell her, that you are not interested in sex.
I agree mostly with the rest of what you said. I'm ok, if there are sexualized situations, you just can deny. You can kill Haarlep, you can just say no to Abdirak ( I guess a BDSM session counts), you can say no to everyone offering from the companions or other NPCs. I'm ok with that. I was a bit put off at how quickly some companions come at you at the party, but it got better after recent patches. Now it's only Lae'zel and Astarion and those two make sense tbh. Lae'zel is pretty direct in what she wants and Astarion wants to get you on his side.
"We are all stories in the end. Just make it a good one."