I used https://github.com/hako-mikan/sd-webui-regional-prompter and the model animeCARTOON_v10. Seems like lots of models have an issue generating this combination of poses, so it is a bit of the luck of the draw.

masterpiece, best quality, elegant, sexual_coaching, realistic, (2girls:1.3) ADDCOMM Happy, smile, whole body, dominant, looking at the viewer, standing behind, (milf) woman in background, (tall), blue eyes, long red_hair braid, ginger, tight sweater, large breasts, open top, eye contact, pushing, mature ADDROW grabbing another's hair , Hands-on head, pushing ADDROW face focus, male POV, penis, happy, (mischievous smile0.9), sly, short goblin student under, (excessive cum:1.3), goblin_girl, short hair, (freckles:0.8), (goblin female), (green_skin), bright eyes, (green_body), submissive, small breasts with nipples, , teen, petite, collar, chocker, loving Negative prompt: worst quality, low quality, fat, chubby

Steps: 50, Sampler: Euler a, CFG scale: 7, Seed: 543950237, Size: 716x974, Model hash: c5321a0b10, Model: animeCARTOON_v10, Denoising strength: 0.25, Clip skip: 2, RP Active: True, RP Divide mode: Matrix, RP Matrix submode: Vertical, RP Mask submode: Mask, RP Prompt submode: Prompt, RP Calc Mode: Attention, RP Ratios: "2,2,3", RP Base Ratios: 0.4, RP Use Base: False, RP Use Common: True, RP Use Ncommon: False, RP Change AND: False, RP LoRA Neg Te Ratios: 0, RP LoRA Neg U Ratios: 0, RP threshold: 0.4, Version: v1.3.2