>>3092722Illustrious/Noob, Pony, and Anima based checkpoints can all natively generate 2+ characters interacting with each other.
Pony/Illustrious are not very good at it. The best way is if both characters are from the same intellectual property (anime/movie/game) and both had a lot of training data. You can check training data here:
https://animadex.net/ or danbooru if you like. The bigger the number next to the characters name, the better.
I have not used Anima much, but it should be better than either Pony or Illustrious. But anima does require longer and more thought out prompts. Note you should still be using tag words, but in a regular sentence. For example, instead of saying "anal, rough sex, male focus" you say: "Aoyagi Touya is on his back having rough anal sex with Shinonome Akito from vivid bad squad project sekai." Then you have to go on a describe all details.
In all cases, you will have to describe the characters well, including positions/clothing/hair & eye color etc...
The included picture was made with an illustrious based checkpoint. Both are from the same IP and both Akito and Touya have around 1000 hits for traning data.
Prompt for included picture:
Positive: very awa, masterpiece, best quality, absurdres, newest, perfect quality, detailed background, intricate details, nsfw, yaoi, male focus, official art, 2boys, assisted stretching, yoga, vivid bad squad \(project sekai\), shinonome akito with orange hair and green eyes, aoyagi touya with blue and black hair with grey eyes, tank top, boxer briefs, <lora:cosmic_fantasy_art_illustriousXL:1>
Negative: facial hair, nude, size difference, age difference, bara, muscular, makeup, breasts, lowres, worst quality, bad quality, bad anatomy, signature, username, logo, watermark, artist name, old, bad hands
I can not speak to NovelAI as I have never used it. The included picture was generated on my home desktop pc.