You are too good for this world XD
The world of succubus covenant is basically the anti-Monster Girl Quest. From what you have described, that sounds like a description of Lust Friend. Lust Friend is a game where you befriend various forms of succubi and engage with them in a lighthearted and upbeat world. Your main succubus Friend Fess travels with you to revive you when you... Get KO-ed and has some fun dialogue.
Lust Friend can be found here:
https://f95zone.to/threads/lust-friend-v1-09-62studio.56340/