Between Poser and Daz, Poser is the better animating solution, but then you will have issues with the latest Daz generations (Genesis 1, 2 and 3) because they lack proper IK implementation as compared to Vicky 4, which was the last Daz product to be totally Poser-compliant.
Animating in Poser with pre-Genesis figures is as simple as dragging the Hip where you want it and the feet and hands stay put. From there you do whatever tweaks you need, and it's off to the races. At least in terms of traditional sex animation loops like missionary and doggy style, etc. More detailed animations like handjobs, foot jobs, etc, may take considerably more effort, but it's a bit more intuitive overall - you move the foot and the leg follows. With Daz, it's completely backwards (Forward Kinematics) where everything starts at the hip/pelvis: you bend the hip/pelvis, bend the thigh, bend the leg/shin, then pose the foot.
There is at least one IK option for Genesis 2 figures in Poser, but I don't think it works in Daz Studio. While Poser 11 has a photorealistic renderer, I'm not familiar enough with it to compare it to Daz Studio Iray. I've used Poser since version 3, and it took me quite a while to adopt Daz Studio because it was so drastically different from, and in my experience limited by comparison to, Poser.
As for animating in general, it's a ton of work, even with keyframe interpolation doing all the tweening for you, and to achieve quality results for a sellable product, you're going to have to look into motion capture devices. I'm not sure how well the Kinect for Windows can do, as I haven't been able to work with that very much. As well, you need motion capture actors - real people to do real things in front of a Kinect or while wearing something like a Perception Neuron rig.
Then of course there's the unknown variable of how those devices actually translate to the figures you want to use. Daz continues to fuck shit up by adding more bones to the torso than what most everyone else has been using for decades, so even a lot of the motion files you find online will not work with these recent generation figures because of that. The V4-to-Gen2 Animation conversion scripts I've seen for Daz Studio are a small help, but the conversion still leaves you with a ton of work to do to clean things up.
Doing 3DX is not at all like having real sex. It's tedious, it's frustrating, and it's difficult to maintain focus at times. While the idea of what you want to create offers arousal at first, the mental focus required to actually produce it means that blood flows back into your brain, and the boner goes away. It's difficult to maintain that perfect balance between being focused on the work and aroused by the concept.
Once you get to the point where you can do what you want to do with the figures in the scene (posing, lighting, camera work, etc) by reflex and muscle memory, and without a lot of experimenting and do-overs, then you can focus more on what turns you on and how to get that into your scene. This is how it was for me with Poser and the Aiko 3-based figures I used for years - once I had the program under control, I could bounce from scene to scene quickly, and get the figures posed and repositioned in under a minute. I could render a complete series of images in a day (20-30), and have the dialog boxes done. Of course the overall quality wasn't what I would consider release-worthy, at least as a sellable product, but it scratched my itch, which is the foremost concern of any artist.