Hi! I hope you have a lot of success in development!
I have decently good news, there is probably a good way to integrate anything done in python like renpy with scripts and other sex toys. Go check buttplug.io to see how to use the intiface interface to connect to a lot of toys, including the handy. Most videogame integrations are done using the tool, so if you can get the intiface working natively with your game you get a lot done already.
There were some users integrating a live2d animated game, here: Tomin’s Playable Fap Hero Game [1.30][complete] | アリアサキュズム | RJ01212921 - #131 by Dimava they might be of help to at least ease how the 2d animated scenes are integrated in the future.
I hope your project goes well! Very appealing. Good luck!