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Bonobos have sex lives as varied as humans. They give each other oral, kiss, masturbate, etc.
As for lower animals, you can do experiments with rats to show that they really enjoy it. For example, it is possible to implant electrodes in their brains that can trigger an orgasm. If you then give the rats a button they can push to trigger a voltage to these electrodes, they keep pressing it until they die of dehydration (yes, they're given the opportunity to get food and water).
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