Hmmmm, you certainly have a high criteria, one that sadly is pretty rare since the kind of stuff you’re talking about is the kind of the thing that would require a whole game design team.
I do have some ideas though for what might scratch that itch.
Dungeon: Keep Her is a 3D Sandbox game where you can breed your minions. It doesn’t really have dating and can be a bit jank since you have to actually get rare consumable tomes to actually unlock sex positions for EACH minion, buuuut if you can get past that it might have something you’d like.
Isekai Awakening does
seem like it might have what you’re looking for: animated sex scenes, relationship system, chance based impregnation. However, all the reviews say it’s grindy as hell, so you’ll definitely want to use cheats if you decide to give it a try.