sexually sophisticated
Having extensive experience and confidence in the realm of sexual activity and a diverse background in the pleasures of the flesh that leads to understanding, acceptance and the pleasurable application of those things that gets oneself and others off, regardless of taboos or 'standard practices'.
"She considered him sexually sophisticated because not only did he accept and enjoy her specific kinks, but he went at them with gusto and then introduced her to even more interesting ways to get off that were right in line with what she liked."