My wife and I have gotten couple's tantric massage with Peachy Pleasures. They were very good and the website photos were accurate. There was no full service. We would each get a lady to provide the massage, and in the middle they would switch. There was a lot of body gliding with the massage and then a happy ending. There was only very soft play involved.
However, there is something to be said about the immense pleasure one can get by surrendering and allowing yourself to fully receive. In this set up, there was no concern for performing at all. In fact, they just want you to lie there and allow yourself to be pleasured. They are very good at what they do.