There is apparently a part in baldurs gate 3 where a dude has fun with a bear.
Buldars gate 3 developer has teased some romance options including one that lets you have fun with a bear as druid in bear form.
How to get to that scene
- Make sure you're romancing Halsin
- Wait until he goes back to humanoid form to appologise
- Choose the option that says you actually like it
Have fun ;)