From the companions, so far my personal favourites are Cait and Atugia
Cait because she is slut-kitty and also a healer, and this matches very well with the characters I play (she also has great scenes)
Atugia because she's the only other female companion I've encountered so far, but also because she's pretty badass... and the whole "remove head" thing can make for some really interesting sex scenes.
According to the wiki, apparantly Brienne is a female companion, but she's a cowgirl so that automatically puts her in down in the "most hated" category for me. Kiyoko is apparantly a companion too? No idea how to pull that off, but she's pretty awesome as well!
As for non-companions, Zuzaan is fucking awesome. That casual fucking while she works is amazing in every way. Same for the kitsune lady in the Frostwoods, though I can't remember her name, and can't find her on the wiki. Honestly the kitsunes in general seem to be really well made and fun characters... and thankfully has a nonexistant percentage of dickgirls/futas/traps.
I guess I kinda like Kasyrra too, but sadly the dick completey ruins her for me. She would've been fantastic as either a full female or a full make, but the combination is a major turnoff. And I know that won't change either due to the overabundance of futa lovers here, so I guess I'll just hope for some succubi in the future.