I think you are searching for something like
AI * Shoujo or good old
Artificial Girl 3. I have the same problem with 3D games. You choose room, girl + choose/change positions and action. But it is like
eating sugar when you want cake. One hour creating girls and choosing clothes for them and after 15-30minutes of gameplay i am bored.
So please game developers create something where you can free roam in game world, interact with environment and girls (go sleep, sit in park, eat/ buy something, wash hands, go to toilet, take foto/selfie, go swim, take bath, take her hand, kiss/hug her and next step will not automatic be 10 rounds of wild sex ...) Something where girls/your partners have at least basic stats (hunger, pee, sleep, libido ...) and they roam game world like you, do same things (yes even have sex together, masturbate when libido is too high, go sleep ... ). Their personality changes interactions between them and between them and player (for example in Artificial Girl 3 you can roam world naked and shy girl will run away, your lover will be smiling and exhibicionist girl with high libido will start masturbate). Or next fun part could be rivalry/ cheating - you have your lover and she will find you with another girl, she will be mad on you and refuse few game days cuddling/sex or ménage à trois. Or girl have another lover/s will you fight to win her heart and then ? Best part is when she take iniciative: will she take you on beach, start cudding, wash your back, find you and start sex ....
I haven´t found many such games so every suggestion is welcomed
PS: there are thousands things (common, funny, crazy) that can characters do in game world ...