A companion robot and an astronaut are returning home, and the companion robot is annoyed because the astronaut won't have sex with her. They are in a ship, and the astronaut keeps talking about his wife. This was probably mid to late 90's. I just remember having to turn it off because my parents came home. I think she was blonde, and in a tight dress in the beginning, and the guy was in his uniform. It was very, "outer limits" like, in that it wasn't an on going show, but an episode from a sci-fi series.
This sounds like it might be the episode Boxed In from the 1997 TV anthology "Perversions of Science." This is described as:
Anthology series of sci-fi stories in the style of "Tales from the Crypt".
I remember the episode you are talking about as it had William Shatner in it (who also directed).
It has all the elements you mention as to a pilot, companion robot, etc.
Sex farce about a horny faithful space ace who, after several years, finally arrives home for a tryst with his fiancee. Unfortunately, her admiral dad forces them to wait until marriage, so the pilot decides to use a sexbot. Big mistake.