D&D is awesome because it's a toolbox, a set of guidelines. One that for the most part can easily accept new guidelines that you want or not use one you don't like. Even what lore there is is flexible in that way. Want drow society to be super kinky (if less respectful of limits) rather than just have them be flat out evil? You can do that. Want to add in an entirely new class/subclass? Go right ahead. Don't like that Restrained just means you can't move or attack? Make a new system. Want the players to simply pass out instead of be killed after 3 failed saves? You can change that.
Hell, I wrote a fairly lengthy doc adding a bunch of kinky adult items and a few mechanics once when I was playing on a Kink oriented server. It included different restraints, sex toys, a revamp of the restraint system, skills and feats that could be learned, magical enchantments, ect.
Think of it as D&D being Open Source, you can put in whatever you want, including things others have already done that aren't official.