It's possible if your party is strong enough to defeat Hero Lady in 2-3 turns with a bit of luck. Equip the following characters with your best gear if you're struggling. Use Aka, Varia and Qum along with Simon using the following actions for the first 3 turns:
Simon > Precise Strike; Aka > Disabling Assault; Varia > Frenzy/Servant's Frenzy; Qum > Arousing Aura
Simon > Precise Strike; Aka > Disabling Assault; Varia > Furious Strikes/Blade Dance; Qum > Arousing Aura
Simon > Precise Strike; Aka > Forceful Lunge; Varia > Furious Strikes/Blade Dance (Blood Strike seems the best bet if you can't dent her); Qum > Healing Kiss (On whoever was attacked by Hero Lady)
Then just reapply Disabling Assault, Frenzy Buff and Arousing Aura when necessary and focus Qum on healing, since Hero Lady starts using Tyrant Slayer twice before healing up. The lucky crits tend to be the major factor in making this fight faster. Of course this means Qum needs a Buttplug for one, while also needing to make sure she retains her SP, so perhaps a Charm of Perversion for Masturbate+ would be useful here when she has the opportunity to let of a little steam.
I might of accidentally while trying this a couple of times to get a good rhythm going I hit a 8.2k crit with Varia's Blood Strike. ._.
Bug report. When in the trading camp and taking out the final group of slavers Cum dum was KO'd and after that I could no longer save the game. Trying to save deleted the save file I was on.
I believe it is intended that you cannot save through that section whatsoever until you've dealt with all the slavers. I couldn't save whenever I tried that section at any point until after I got out of that room.