Your orcs are welcome to be people, man.
Mine are born in deep holes in the earth, mockeries of men crafted by the hate and rage of the Horned Lord, Breaker of Walls and Reaver of Cities, an ancient horror buried under the bleak mountain range known to the world as The Crags. They take what they want when they want, regard humans roughly as a steak you get to torture to death first, and they don't have womenfolk. So, assumption holds.
My succubi however lie like, well, demons. And pretend to be loved ones. So yes again.
You can stick your 'imaginative shortcomings' in your
bag of holding, chief. Some of us keep post-modernism largely out of their non-Planescape milieus.