A slider LoRA trained on the word "desire" that does about what you would expect. :)

Lots of pretty shots of pretty people posed in sexy ways.

The output can be a tad messy, and the failure rate is a bit higher than normal due to it making SDXL attempt some less common poses. It can also be a bit messy with hands. You can alleviate some issues with small details by installing this module:

https://github.com/cheald/sd-webui-loractl

Then prompting the LoRA like this:

<lora:EnvyDesireXL01:1.1@0,[email protected],[email protected]:hr=0>

That will shut the LoRA off about midway through the initial generation, which will allow it to establish the pose, but gets it out of the way so your checkpoint can handle the details.