Yep, Lot's daughters had sex with him. There was a lot (no pun intended) of sexual sin in Genesis. That book is basically the story if how the Israelites and 12 tribes came to be. There is also a lot of judgement placed for sexual immorality.
What was considered sin and what was not considered sin, back under the ancient laws is very different than strange ideas modern folks have made themselves believe. Very few who want to be all morally judgmental have actually studied the ancient laws and ancient commandments that were handed down. It's also funny how modern folks of the "western sort" seem to be so bent out of shape about anything to do with creating life and if kids happen to get a book that shows them the facts of life it's the most horrible thing in the world. Meanwhile, watching depictions of or playing games about killing people, ending life and violence and destruction, well that's wholesome family entertainment. And folks wonder why humans these days are so screwed up.
Back in the old days, there was a sacred command to respect the circle of life and the command to be fruitful and multiply and raise up generations to follow after you, based on your bloodlines. The respect for the lineage of life was even enforced in regards to observing it with animals, which was subject to harsh penalties. (unless you were given a sacred command to do the exact opposite).
Sometimes that meant you did what needed to be done, even if you didn't like it, because that was the laws and you didn't want to anger God.
It might mean someone's daughters deciding it was time to get pregnant by their father, or a daughter in law deciding to take matters into her own hands "literally" and tricking her father in law into getting her pregnant,
Or being forced to impregnate your dead brother or close relative's wife even if you were already married in order to raise up seed in their name. (and if you try to get out of it God might kill you)
Or it might mean your barren wife understanding that she is obligated to make sure you get an heir even if it means getting your husband a second wife or telling him to do a Schwarzenegger with one of your maids. (there is the little problem when of course then the ancient, long barren wife gets pregnant and then well... there is an inconvenient problem about the other previous "heir"),
It might mean after you genocided just about all of your brethren in a fit of propaganda enhanced rage, you arrange for your friends' and families' daughters to get kidnapped and taken as wives by the folks you just finished trying to genocide, because you realize the alternative might be divine judgment on you.
Lots of things were that way, where you had to do things even if they weren't comfortable or normally not allowed. Like you aren't supposed to do human sacrifices to The Almighty Creator as they really hate that. Except if well, you royally mess up with hasty vows and then well, better to sacrifice your virgin daughter than to be caught out breaking your vow.