There are none where you're fully controlling an "anime" so to speak, if that's what you mean, with fully realised characters in a set storyline. The best quality you can hope to find are the one or two series that feature actual animated character cels rather than static images. These characters' mouths move with their speech and the hentai scenes feature actual animations, although they are looped like .gifs and only change when the situation changes.
There are also one or two series, like artificial Girl or Sexy Beach where you "control the action", having a hand in designing the girl, walking around a fully realised environment with outfits, props, and the like, and have a large modicum of control over the "hows, wheres, and whens" of the sex. The downside to these games is there's no story or real dialogue, so they're more like virtual hentai simulators then the typical hentai "interactive anime/novel" game you're thinking about.
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