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The genitals do have colliders builtin. Check with the Collider Editor plugin. I've found that the shaft colliders do well automatically, but the balls need adjusting. The thing is, it's a small relatively "sharp" object and it needs to collide with an often sparse cloth mesh. Also, it can't react in any physical way to clothes, like being weighed down, sim only works the other way around. It's almost always gonna peek through unfortunately, even on denser meshes and non-realtime cloth sims like blender's. Making it flaccid with Autocock or something like that, and attaching the tip to the thigh with a loose parent link and triggering its release manually could work to simulate how it would behave inside pants. I'm thinking of other things that could be done, like adding a general groin area collider that could be triggered off, but it will take time to figure it out.
As for breaking the plugin up in parts and/or allowing for customization, it's something I'm considering, as well as adding some more for the upper arms and shoulders. They do also have built in colliders, but they are a bit lacking in definition. That for version 2 or 3.