Besides Skyrim and Oblivion Lovers Lab mods and a little imagination, (I had for example this short-to-medium Skyrim playthrough a few years back, where with a "recruit any NPC as a companion" mod and some change faction commands, I made a powerful witch that was killing my level 5 or so MC a "companion" and put myself in her faction, the roleplay being that he pleaded for his life and she accepted to heal him and keep him as a slave, after which she took all of MC's money/jewellery/valuable enchanted weapons, MC did menial tasks for her and the rest of the Witches in the fort - like crafting, cooking, chopping wood etc, and with a lovers lab sex mod I made MC routinely kneel in front of her and lick/woship her pussy, as well as ocassionally be pegged by her. After a few weeks my enslaved MC earned the trust of the beautiful Breton and Dunmer witches of the fort, they taught him alchemy so he could sell potions for them in the cities, and eventually I quested together with the stronger witch companions, as they were much higher level than my pretty weak MC in this playthrough, and MC even bought his mistresses a large modded countryside mansion at the end of it, where the entire coven could stay hidden from prying eyes and live a life of luxury as MC served them! It was pretty fun for a while, and in a way oddly similar to being a fortress whore in Nikociant's "Dominant witches"...

) I can definitely recommend
Peniban Quest for this, as MC gets dommed and humiliated by not one but all of his female companions, and even though it's a bit pegging-centric, there's also foot worship, pussy worship, lots of urination and plenty of other fetishes! (the only drawback for that game is that the main character never really speaks or reacts to his female companions dominating him much)
If you also like monster girls, the Monster Girl Quest Paradox JRPG has a "pocket castle" in which you can get dommed in various ways by the monster girls you recruit, (even though a few of them will just typically eat you as they would if you lost to them in battle, and some parts of it feel more like a harem game), but nothing else comes to mind right now... (I assume you already played Mistresses of the forest, where the first femdom LI is a witch that will be MC's companion for a short part of the game, but very briefly)
Oh, there's also this pretty good story by the Japanese femdom VNs producer Msize, called
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, in which exactly what you want happens with the first female companion MC recruits in his adventure, but it's just a translated story with illustrations, not a game. That's all I can think of right now!