You're not using the right mods with rimworld bruh.
Yes, base rimworld doesn't have that much, but you don't play rimworld without mods. It's like purchasing and eating white plain bread without anything between them.
Put RJW and it's addons, you can do anything ranging from keeping a decapitated pawn alive by fucking them, make a patchwork zombie pawn to fuck, planting a parasite in their body and let it take over to grant them tentacle abilities, mindbreak a pawn by repeatedly raping them to submission, let them survive only on your cum, implant seven rows of breasts or extra ten penis (or both on same person, who wanna judge?) and forcefully drug them to the point they're leaking enough milk/cum to flood the room, and many other 'funny things' like making a humanoid furry race that splits into two person when they got fucked silly.
And yes, those are all animated! If you put the correct mod (RJW animation and it's extra addons).