I think it depends on the voice actor and the way it's done. If the sound effects are good and the voice actor does a great job, it can make the experience much more immersive. But if it's too exaggerated, it can feel a little awkward!
At first, it was a total shock XD I think I am heavily influenced by the voice actor's performance. In other works, there were times when it just sounded like noise, but VA for Ichijo Hirame delivered such a great ear-licking performance that it completely shattered my preconceptions. Apparently, he is actually well-known for that ear-licking.