I think many games like this will not exist. Because it is pretty hard to do it that complex. Game like this must be created in 3D engine and without picture and video material, just engine animations, because it's impossible just do all scenes for all characters in game and all possible thing you cna do with them.
Actually, i think there is a game like this. Except it was abandoned, it's not 3d and the NPCs just give you generic dialogue. Otherwise... Nah, i don't think a game like this will exist in a near future.
RapeLay, Itazura Gokuaku, PlayHome/PlayClub isnt necessarily molest per se, but its similar to Rapelay. There's also 2D ones like Saishuu Chikan Densha series and its one of the best imo.