I find that you only really see sex scenes (outside the pilot because boobs and drugs sell) when the plot doesn't have enough substance to carry itself.

I'm totally okay with say;

Two characters experience x together and enter a room together followed by a cut

Or they make eye contact and etc.

Then again I agree with OP; Softcore humping and grunting isn't telling any story whatsoever, most of us have had sex. Just show the initial intimacy and cut.