Yeah, Daz3D sucks in at least the posing-with-other-objects area: there is no real collision detection to speak of. I sometimes go back to Poser (if the models can do so), because that at least can give me an active leg up in knowing when parts of a model are intersecting with another surface. Otherwise, I typically drop back to hidden wireframe (or similar) view in Daz and do a quick 360 around the parts which are touching, because that often helps to find when accidental overlaps are happening at the edge/vertex level.
Hopefully this won't take "hours" as your skills improve - but, this looks pretty good! I know it's a nit, but in the tone of being helpful with feedback, I'd typically expect her lower body to be smack against his body if her legs are wrapping that tightly + her right calf is looking a bit clipped on his lower back (which might be helped by using a morph to smush her muscle in that region, if you have it, to avoid moving the whole section of leg and readjusting where it touches her left foot...)
Mind you, I realize we're all at different levels of time and expertise in this area of artistry+tools, so those items above don't interfere with my general impression of what the two characters are expressing. Just offering this impression in case it might be helpful in your future artwork decisions.