I have been spending too much time at
Stable Diffusion which is an AI interface to a system that takes text prompts and makes images. It seems to automatically filter out nudity (so "nude" gets "Error" right away with no image) but it can be coaxed with words like "unclothed" or "undressing". It often generates gibberish and faces are mangled, but sometimes it makes real good images. It's also only 512x512 images, but hey, it's free. (Note that the processor has a queue limit of 20 (I think) and if you hit it at the wrong time, it'll just report "Error".)
For ASFR purposes, I found you can make a lot of content with keywords like "sex robot" or "animatronic". "Android" unfortunately gets lumped in with the Google brand (

) so it doesn't work as well. An example prompt is "full view of an undressed sexy robot version of cute short-hair, young Michelle Williams laying at an electronic recycler". Sometimes adding more details gets you into territory that it doesn't understand, but in others, it works pretty good.
Also, it seems to draw from a corpus of images, so celebrities with more images work better. Unfortunately, some don't work so well (e.g. Margot Robbie is an angular-faced mess) while others are quite reliable (e.g. Rachel Leigh Cook) and others need qualifiers like "young adult" to avoid the too-young versions (e.g. Emma Watson).
Oh, and parts and panels don't seem to work at all. The AI has no idea how to interpret it.