I think
Éama's point was that erotica isn't inherently better quality compared to porn. We can see the difference between the two, because they focus on different things, but an erotic scene can be out of place or badly written just like a porn scene.
One way to look at sex scenes is, as if they were an action scene analogue, because they kinda are, depending on the genre. For example, a fight scene can have good or bad choreography and sex scenes are more or less choreographed, too. You can use two Jedi knights crossing their light sabers as an opportunity to further the plot and their characterization, or you can just have them spin around, because spinning is a good trick. In the same vein porn actors can cross their swords for different purposes.
With this in mind, I don't think AVNs have a problem with eroticism, I think it's a problem with their quality in general. A copy/pasted animation is still low effort, even if it's only meant to be pornographic.
Can't remember the name of this one game, that's about an edgy demon anime protagonist cucking all the men with his magic dick. If this premise could ever make for a good story is probably up to taste, but I remember the sex scenes being very good. The game focused on giving the woman pleasure and had a lot of close-ups of her face to show that, which was pretty sensual.
Anyway, this just came to mind as an example for a game with a silly porny premise, but very erotic action scenes.