It's crafting the language to shape attitudes. Hesitation implies a temporary delay due to mental frailty. It's like those websites that force you to click "not now" or "remind me tomorrow" for something that is nobody wants.
To put it another way, if a woman doesn't want to have sex with someone she dislikes, she's not "penetration hesitant", she's made an active decision that the answer is no. Hesitation implies the lack of a decision.
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