Most likely doable in today’s time but there’s probably not enough interest/profit from creators to spend days working on that stuff instead of the actual porn/game content.
For interest in the topic I’ll link a couple of discussions where people pondered the same thing, but your usual answer is Virt-a-mate or something with buttplug.io; nothing like h-games directly from dlsite or anything yet.
Are there any hentai games that support the handy?(Reddit)