At least it's extremely-easy to add those pleasure attachments to a humanoid robot in reality (assuming of course you've got a sentient robo-waifu to start with and she wants the dick, which is the more difficult thing to accomplish):
Once all the tech is there and affordable, all you need to do is put it together, like soft and unusually-arousing building blocks. Sexy robots are the future, and the future is bright.
Also, when it comes to the aforementioned "simulating orgasm and sex drive" bit, I can't claim to be an expert on programming AI, but it seems like a very simple concept to program in on-paper.
For orgasm, all you'd likely need is a coding setup that says, "pleasure center has variably-sized buffer of how many built-up signals it can receive before orgasm is triggered, buffer fills with varying speeds due to sight of arousing things/sexual thought processes/physical stimulation/outright sex yet can empty as well due to negative stimuli, orgasm sends a single 30 second (default) pleasure signal of extremely-high/maximum intensity while emptying buffer, orgasm causes motors and thought processing to experience temporary malfunction within safe parameters until it subsides".
For sex drive, it'd probably be just as simple to emulate in full: "For every [period of time] that passes without physical reproductive stimulation/orgasm, reduce maximum pleasure signal buffer size by [percentage/exponent] and/or increase buffer fill rate by [percentage/exponent], and increase frequency of naturally-occurring sex-related thought processes by [percentage/exponent], repeat until safe limit is reached, regress to last increase or reset entirely to baseline when stimulation/orgasm occurs"
Of course, the real endgame of robo-waifu engineering is either perfected consciousness transfer that tells the Theseus' Ship principle to choke on a dick similar to what warp drives would do to the Theory of Relativity, organic-to-synthetic cellular conversion that functions just like natural cell replacement and thus causes no issues, or the classic "brain in a jar in a suit/mech" option. Your robo-waifu will at maximum last for as long as metal, energy and flesh-like synthetic material can be harvested from somewhere in the universe, but you won't as an organic human and your dick will have it even rougher, unless of course you become equally long-lasting through science. Pounding all that silicone with your organic schlong for a few decades is great, but getting to do it with one made of highly-durable metal that has identical function but is nigh-unbreakable and almost-eternal is even better.