You asked:

What dildo is the closest in real-life feel to an actual penis? I mean softness and flexibility — most dildos seem really hard and rigid.

Grace:

You’ll want to look at dual-density silicone dildos. Vixen is great for that realistic softness. But there are some newer toys worth checking out too, like Pipedream’s 6" Uncut Cock with a movable foreskin. And if you want something that also vibrates, Honey Play Box’s Luis is a good option.