Basically has, though not fully VR.

Before VRChat's recent anti cheat event last Aug, modders we're able to link toys and devices, such as lovense, for other people to control. Within certain limits and permissions based on the wearer. Now that's ChilloutVR and maybe Neos.

Simply put, the mod brought up a menu of a lot of controls and customizations. You can control intensity, pulses, etc.

Bonus points if into bondage, there's leashes, avatar altering controls (depends on the avatar itself), and well punishment uses too.

Even though you can't touch someone's "area" to result in a sensation, yet, it's getting there.