For the same value of 2D in-game illustration + sprite sync + great voice (and arguably cuter than the 3 characters here even if alot less illustrations), I recommend one of the dev's other games: "The Cursed Sword and The Princess of the Sea" 『呪いの剣と海の姫君』. Only one character though, but at least for me I got alot of peaking value from it. <3
For the same type as in "2D roguelite auto-attack game" and "lewd upon touch" kind of mechanic though, I haven't seen/encountered one yet.