"Awakened" robots get to have sex?!
It seems economically implausible for most robots to have sex organs, except for the subset of robots who were manufactured as sexbots. Or supposing they were built for that purpose, their sex organs wouldn't be designed to pleasure themselves - only their partners. Thus it wouldn't be unreasonable to expect that a robot sex organ provides no sensory feedback to the robot brain whatsoever.
The only "awakened" robots who could have sex lives, are former sexbots who 'love' somebody enough, that the robot gets some kind of satisfaction out of knowing they are pleasuring the partner. Non-sexbots could have similar desires, but not also have the equipment to succeed.
The David Elster prototypes would be the only fully equipped robots (until Qualia is able to get into the market), physically capable of experiencing sexual pleasure, because Elster would have wanted them (especially the females) to have all the human options he could possibly grant them. The only thing we can't be certain about is how long a male prototype could go before they would "feel like" stopping, and that's if Elster equipped them.
I'm not a huge pervert. I'm actually the kind of person who occasionally opts out of sex dreams with beautiful partners, for the scenario not making enough sense. I just couldn't help but wonder WHY Hester would have a vagina (or any kind of hole down there). The only explanation which makes any sense, is that sexbots are physically no different from the majority of other robots. Most robots are built for general-purpose, and it's up to their owners to decide how to use them. Hester was merely *assigned* to be a factory worker. She wasn't *built* specifically to be one.
I want to believe in the theory of general-purposeness, but my suspicions lean more toward, robots are like cars, and there are plenty of feature-related reasons for why some cars cost more than others. So if a company needs a fleet of cars for internal use, you would expect the company to only pay for features which offer business value for whatever kind of industry the company is in. Sex organs seem like they would be more sophisticated, costly, and optional, than all modern cars coming with some kind of CD player at minimum. So, in realistic economics, a factory worker doesn't need a sex organ, therefore a factory buys a cheaper robot without one. Come to think of it, I don't know why factory workers would need skin, either. Maybe that's the "CD player of synths". It's something that's so mass-produced, that you can't really save any money by trying to purchase a synth without it.
Sorry, just thinking out loud, here.