I think (this is my related rambling now, not to put words in your mouth) he and Rimmer differ in how far they're initially willing to go with their own bodies and sexuality. This is part of why I tend to write Lister as bottoming and/or taking on a submissive role, at least to start — I see him saying "This feels good, I want to do more" without agonising too much over his masculinity, etc. Within the same background of love/trust/safety in which this happens, Rimmer could also enjoy doing subby things, but it might take some time.
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I think (this is my related rambling now, not to put words in your mouth) he and Rimmer differ in how far they're initially willing to go with their own bodies and sexuality. This is part of why I tend to write Lister as bottoming and/or taking on a submissive role, at least to start — I see him saying "This feels good, I want to do more" without agonising too much over his masculinity, etc. Within the same background of love/trust/safety in which this happens, Rimmer could also enjoy doing subby things, but it might take some time.