This is not what the historical record says at all, actually hilariously quite the opposite and this assumption is quite modern and common especially in the West.

https://www.latimes.com/california/story/2023-08-03/young-ad...

For one, quite famous historical example see the Kama Sutra. It does not take more than a quick Google search to find a million other examples, eg https://en.m.wikipedia.org/wiki/Erotic_art_in_Pompeii_and_He...

Check out this AskHistorians thread. https://www.reddit.com/r/AskHistorians/comments/17zztg/how_c...