I have three tips which might help you:
You can make Energy Potions out of Restless Mushrooms which will eliminate the need for you to go back and sleep.
You can ask Nel to help you out in fighting monsters. If your allure level is 0, she will automatically struggle against grapples and autofight for you while you do something else in the background.
You can choose to turn off monster sex completely, so monsters will stop doing grapples altogether.