>>725814846
It sounds like you want dungeon crawlers.
The Dungeon Travelers games (2 was censored for its western release, though, keep that in mind).
Moero Chronicle and Crystal (both by Compile Heart, feature the now verboten "touching minigame" that gets you nuked off of consoles in modern day). Seven Pirates changes to a turn-based Dragon Quest-style RPG, but ups the fanservice significantly with breast expansion/altering for level ups.
Mary Skelter Nightmares as well, also includes a variant of said minigame, but it's purely a side show here.
Omega Labyrinth and Omega Labyrinth Z, which heavily feature breast expansion mechanics and also include a "Size up" minigame to unveil items by basically giving them a paizuri. Omega Labyrinth Z was the canary in the coal mine for the impending death of ecchi games when its western release was suddenly banned by Sony in 2018, so it has historical value as well.