I've already tried VR Kanojo and Koikatsu but they seem to have fairly limited interactivity. Do any of you know or can recommend me hentai VR games (even when it's Japanese untranslated) that you could find in DLSite, etc.?
Yup, Custom Order Maid 3D2 is really good. I also can recommend you trying out Writhing Play, Waifu Sex Simulator. For more interactivity you can check iDoll (VR edition), but personally I didn't get it to work.