Thats not a feature, thats just common sense. Ofcourse a new scene will be in the recollection room if I just saw the female with blush marks on her face and acting weird after a mission/cutscene.
I dont know what games you have been playing but this is definitely not normal. You arent suppose to be going to a recollection room throughout your playthrough, the game is suppose to provide you with good enough stimulation so that you dont have to go to recollection room; Case and point; Nanpa Beach, Sana, Secris, My Beloved wife turns into Dancer Class and Heals Everyone, NTRPG, Boy Hero Ken Investigation Manor, SAO/ChainsawMan Hotsprings, Hitomi Chapter 1/2/3....
I can keep going but the point should be obvious, its not lazy for not wanting to go to the recollection room, when you have to go there that means the game handled sex scenes poorly.