VoidBound, by inherent design, is a story driven game. A lore oriented experience overall with a garnish of sexual aspects, if you will. However, the story structure at times forces Caly through some complicated, and sometimes unavoidable, erotic situations. The idea behind these scenarios isn't so much as to provide sexual gratification to the player, but to in-fact impress upon them the circumstances behind Caly's current peril.
That being said, only a handful of these are designed this way as they form the bedrock of the story at large. Most other H content is very much bound to player's choice and gives ample leeway to play without geting in touch with your phallus friend to the south.
Finally, we're evaluating a solution for addressing this facet in the future though, where the player will have the option to skip watching unavoidable scenes entirely if they so wished for any reason. Something deifinitely on our medium to high priority.
Hope that satisfies your query!