Can't answer the animation part, but I can answer the genitalia part when it comes to Daz models.
With Daz there are 3 options:
- The Daz genitals you get from the Michael and Victoria Pro Bundles
- Dicktator and Golden Palace, for male and female respectively, by Meipe you can get from
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- New Gens for female genitals by 3feetwolf you can get from
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The Daz genitals are very basic and come with very limited morphs and textures but there are morphs you can from Renderotica to give more options. Dicktator, Golden Palace and New Gens are all very high quality genitalia that are somewhat more realistic, although Dicktator can be made to look crazy unreal.
I think they're all pretty much compatible with one another if you want to do your own poses but some sex pose sets are for specific genitals as are the animation sets by
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.
Hope that answers at least one part of your question.