They wouldn't even have to go full robotic to look good. Just stop trying to be realistic- go for cartoony if you have to. Those Beauty and the Beast animatronics in that Disney ride in Tokyo look incredible, and fuck me, I'd shove my dick in that Belle's mouth with hardly a second thought.
The uncanny valley feeling is severely diminished when what you're looking at isn't trying to masquerade as "realistic." If it's intentionally robotic or stylized in appearance, your brain more readily accepts it without issue.
Plus, being intentionally robotic would cut down on the need to try and make everything quieter. The whirring and clicking would just be part of the whole robot-fucking experience.