Not directly artwork, I believe the below was derived from text.

https://www.westword.com/arts/ancient-romans-knew-how-to-party-five-reasons-behind-their-greatest-legacy-5780097

Some Romans were swingers. Also, furries. The good people of ancient Rome weren't afraid to get a little freaky. Archaeological evidence suggests that some Roman households were home to private sex clubs, decorated like brothels and complete with their own entrance. Other people liked to dress up as animals, everything from bulls to leopards, and roleplay during sex. And here you thought furries were some kind of weird Internet-era kink!