Err...rather than "The Jetsons", my mind goes to something more contemporary and...well, HUMAN-looking, like the androids in "Blade Runner" or "Star Trek" or "Detroit: Become Human".
In fictional instances like those, I think I would be very comfortable forming an emotional relationship with an AI. In something like "Detroit: Become Human", it was easy for me to form an emotional bond with the characters portrayed - largely because that's what dramatic fiction is intended to do, but because I saw a lot of behavioral traits I recognized as my own. If we had humanoid androids like that in real life, I could form an emotional connection with one.
I don't know about a sexual connection, though...although I'd certainly be a lot less self-conscious.