How to have sex?

[PAiiro]

The only way I have seen sex here are in dreams, i have seen some interactions but how do i get there and trigger it?

[Sauer_Kraut]

my life in a nutshell

[S.E.C.]

here's what you do, play the game, run the missions, missions that have an on-demand sex slave to kidnap will be shown on the mission as a collectible, then its just a matter of finding them. One takes a somewhat less obvious approach to get to :p

[METAL]

what S.E.C said.
some missions have a slave to have intercourse with. these levels are clearly marked with a seductive pose symbol.
once you interacted with them, they are available in your cave.