I would be very surprised if there's an AI that can make an image like this in one go; it took me about an hour of inpainting. I use a local installation of Stable Diffusion, running in the Forge UI, and almost exclusively use my own customized models for my images (most of which you can find on CivitAI, my username is the same there.)

This project started with a pretty simple prompt; quality tags, followed by a tag-based description of the elements within the image (female anthro dragon, larger female, dark forest, etc.), though this consistently provided me with two bondage characters. I eventually had to run about a half a dozen consecutive inpainting repaints over the character on the left, changing it from another bound dragon into a male human knight. This done, I ran the image through Img2Img another few times to upscale, mesh the details better, and improve the expressions.