It will happen eventually.
Even if the Japanese market wouldn't like it, the American, Russian, and Spanish audiences would totally promote it.
Berserk has like one scene.
Goblin Slayer has a rape scene in its first episode. You might be able to argue that it happens twice, but the second one is only implied.
Castlevania Season 2 has a serious sex scene where one of the humans completely gave into his lust. And suffered the consequences for it. Although, I'm not sure if Castlevania can be considered anime.
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