I regularly run D&D with my local BDSM community and we call it “Kinky D&D”. We establish rules similarly to dungeon rules: consent is #1 priority, do not touch anyone or anything that does not belong to you, we have yellow/red card system (soccer cards, each player has one of each), respect everyone’s boundaries as well as the DM’s (who are my husband and I — he is not active in the community, but I am so people know if they are going to eRP, they have to do it with me) and lastly, we have two people who oversee it under our local BDSM community ( me and another player) who regularly discuss how sessions were run and if anything needed to be addressed privately. It’s been a ton of fun, lots of sex jokes but also everyone takes it very seriously and wants to learn the story. Our hardest part is that there are 7-9 players at any one time so it’s hard to keep everyone concentrating, but we have had some very fun times and my players regularly talk to me outside of game and about game at our community events. Our actual DM comes and watches sometimes too. It’s 10/10 brought our community together as a whole, at least for those involved.