Isekai Demo Fuuzoku Jou Yatte Mita

Yuzuki is a call girl – a sex worker who doesn’t make prostitution her main profession. She gets sent to another world, and in order to get back to her own world she has to collect orgasms from all the different fantasy races that exist in the world she was sent to.

So yeah. It’s similar to JK Haru is a Sex Worker in Another World, but compared to that the fanservice is more explicit and the story itself less dark.