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There's a moderate amount of sexual combat with Monster Girls, as in Monster Girl Quest if you know that game, but not to the same extent. So yes, if you lose, the MC will be raped, though not always, and not always after a fight... The concept revolves more around deep talks with some of these creatures, and the MC's attempts to come to terms with their existence and understand their place in the world.

That pretty much sums it up.