As is often the case, you can use keywords, preferably in Japanese, to find a lot of stuff like this. In this case, I see two keywords: 着衣 ("wearing clothes", i.e. "clothed", as opposed to 脱衣, "undressed") and チ○ポを擦り ("c*ck rubbing"). Just putting those into Google as 「着衣 チ○ポを擦り AV」produces quite a lot of relevant results (mostly other titles by Aroma, but also by some other studios, e.g.
CWM-190 looks like it fits the niche. Which also reminded me of Sex Agent's similar titles, e.g.
AGEMIX-133, but I would recommend checking all the AGEMIX label titles at least since there are a lot of gems there, e.g.
AGEMIX-098, where the cock is actually put
under the clothing, which is a bit different
AGEMIX-133 uses 尻ズリ, where the second part is actually the same 擦り, i.e. "rubbing", so, "ass rubbing". And AGEMIX-098 uses 尻コキ, i.e. "ass-job" as in "hand-job" etc. So, you could find more fitting keywords like that and find more and more titles that fit that niche. "Cumulative keyword approach"
As for the name of the genre, I think it can be considered a subgenre of CFNM in Western terms, but I don't know if it actually has a specific name in Japanese, AARM-131 itself has (at least of JAV Land) the 着エロ ("clothes eroticism") and パンチラ ("visible underwear") tags, but I think these are still too general to find something like this specifically. Hence the keyword approach