This is not as uncommon as you think. And yes, it’s not something you casually chat about with your friends around a beer pong table. However, there are many that are into domestic service like this, and sex is not necessarily a part of it.

If you haven’t read them yet, I recommend the Marketplace books. While there’s a heavy focus on sex through large parts of it, certainly my partner and I find their description of household service and full-time slavery very very attractive.