A want a romantic hentai. Manga or anime is fine. Where the characters have a relationship with each other. No rape, incest, tentacles, lactation, or bondage. I'm mainly looking for straight hentai right now but yaoi and yuri suggestions are good too. Please help me find something softcore. I enjoyed Virgin Night, Sensitive Pornograph, Moonlight Lady, and Royal 17. Help is much appreciated.

You could try the Borderline-H category instead. Much of it is effectively very softcore porn.

One place to start is with Harumi Chihiro's work, which is usually considered very good.

Romantic hentai.... the first time I heard of that... 😀

I Love You

If OP is willing to ease up a little on the "incest" part I would suggest Sweet Days (TAKASUGI Kou)

It's about a lad and his aunt. If I recall correctly the aunt isn't a blood relative though.