I'll take comedy 100 percent of the time. Sex is already half a degree off from absurdism, it's not just healthy but actively fun to embrace it for what it is.
Unfortunately I find that the best way to go for most H-games is to just have a linear plotline with decisions only impacting player preference and not the real story... so, yeah, if there's a walkthrough, I just use it.
Now, the ones that need a walkthrough and don't have one? With a bunch of...
If Honey Select doesn't reach your bar for realism, sorry to say your choices are going to be pretty limited... The best art I've usually found is done by talented 2d artists, most renders are gonna be rough around the corners.
That said, have you tried Lessons in Love? I wouldn't call Koitatsu...
I mean, I had a whole thing prepared about the benefits and bounce of perky little titties, but like, wow... those poll results are very on brand for LC.
No complaints, little quirks like that are what make games interesting, and sometimes it can be the only thing that makes them playable (looking at you gen 1 pokemon)
I think once. Love, Sex, and Second Base doesn't have a FULL harem ending (because there's something like 30 partners for the M/C and it isn't real feasible) but it does have lots of satisfying mini-harems, and plenty of perfectly servicible single-couple endings.
For the most part though? No...
Best html game I've played by far would be Course Of Temptation. It's still in early development, but it has more content than most of the finished html games I've found. It also strikes a really hard to hit balance between the amount of content it has and the complexity of the world around it...