It should be currently possible to overpower NPCs!! iirc it should alert you that they are trying to move you/remove your clothes the turn before they do it, and you have the option to resist them doing that (physical skill check) or ask them not to (charisma skill check).
You also have the option to ask for the positions/acts you want or to physically move your partner into the position you want. If they try to resist it comes down to a physical skill check: if you win, you overpower them and move them into the position you desire.