strength 0.7+ basicly than more, then worse quality of picture, but better concept at 1.0 can work even with huge prompt pack, but cheap quality.
base pack of prompts
1 for grabbing ass use - grabbing another butt, from behind
2 for grabbing breasts use - grabbing breasts, grabbing another breasts
3 for touching over crotch try use - (fingering crotch another:1.3) or (arm over crotch another:1.3) or something like That, very unstable dont expect too much or take patience, or try some prompts from my pictures, maybe it work.
4 experiment your own good generations with first person lyco and share your results here to see