@H0R0 If I understand correctly, "娘" can also mean a "girl"/"young, unmarried woman" "https://danbooru.donmai.us/posts/4666879" . So, maybe there was no sex with dad But i can't be sure
If you follows this author on pixiv you can clearly see he has 2 female characters, this girl and 1 other looks the same but with longer front hair which created before this character, this one designated as "daughter" the other designated as "mama" even has "daughter" and "mama" in one work.
https://www.pixiv.net/en/artworks/93941482 ハロウィンの雌猫ちゃん親子♡ 今度は親子で猫さん Halloween female cat parent and child ♡ This time, parents and children are cats
https://www.pixiv.net/en/artworks/82171047 https://danbooru.donmai.us/posts/3947855 急に声をかけてきた清楚なJKと結婚した話 17年後のママと娘 親子でぺあるっく A story about getting married to a neat JK who suddenly called out to me 17 years later, mom and daughter Parent and child
author didn't give them name, just "mama" and "娘" which of course can be "daughter" or "young girl" but with how both are in same work and designated as "parent and child",
so yes, this can be "young girl and her boyfriend frist sex at beach" and "daughter and her boyfriend first sex at beach" at same time.