Yeah prison is not a permanent solution. It's a temporary solution for people with the deadly enemy and/or detached traits or for venemous or worse people at the beginning of the game when you're not prepared to deal with them yet. I'm playing a fresh game right now and with about 4 guards, none of my venemous people have tried to escape yet (and I have dozens of them).The thing is that sending them to prison is a closed circle of negativity.
Prison gives them fear, makes them less likely to escape BUT it also lowers affection, by a lot.
And you need affection so they dont escape. There is no winning move here.
Unfortunately for this play through none of my sex related stats are useful yet so sexing up the girls is going to take awhile (25 kissing, 20 copulation, low charm, etc). It does get a lot easier once you've upgraded your house a bit, at that point it's usually not too hard to get the girls who hate you to take a bath with you and then they're ready to be fucked even if your stats suck.
I did take both attractive and teen subduer and I highly recommend those due to how much easier it makes it to sex up the girls and both of them still provide a benefit even at maxed out stats.