Tsugumomo!
I searched the forum, only found a post detailing NGD's poor taste, and so.
The world of Tsugumomo is a world of exorcists, ecchi hijinks, and objects with soul, the titular tsugumomo. The first and last are the biggest part of the story, thus far, though there is no lack of the ecchi either.
Tsugumomo are divided into two kinds, tsukugomagi and amasogi. Tsukugomagi are objects that have been around for a long time. They awaken, gaining a soul, with intelligence and personalities, and gain the ability to generate a body. They also gain powers, that both they and their owners can use. The owners of tsukugomagi are exorcists, and their function to destroy the other type of tsugumomo, the amasogi. These objects are cursed, empowered by strong emotion and an overwhelming wish. They're not intelligent, cannot generate a body, and cannot be wielded - they simply possess people, called hosts. Exorcists go about, destroying amasogi, and saving the hosts, when they can(while it's not happened yet, it is mentioned that sometimes the only way to stop the rampage of an amasogi is to kill the host).
Our leads are Kazuya Kagami and Kiriha. Kazuya is an exorcist and a teenage high schooler. Kiriha is Kazuya's tsukumogami, an obi. The early part of the story is Kazuya and Kiriha learning to work together, thwarting a number of amasogi, interacting with a number of secondary characters(Kazuya's older sister, the local god, an exorcist from a neighboring region, and some of Kazuya's schoolmates), and generally getting closer. Also, ecchi hijinks. Lots of it.
I'll not spoil the rest of the story, but it does turn noticeably darker later on. The ecchi hijinks don't cease, tho, so no worries there.
Speaking of ecchi hijinks... There's a reason I mention it so often. Because it happens so often. You might think that would be jarring in an action manga with a decent story, but I don't find that it does. Oh, you might be surprised the first few times you see it, but it grows on you. For one, they mostly come off as natural occurrences, happening as a result of bathing and sleep. Second, there's little accidental perversion, the ecchi being instigated almost entirely by the girls in the manga. For the most part, the girls act like hormonal teenagers and pursue Kazuya accordingly. Next, the girls are detailed, literally. The mangaka has no objection at all to showing almost everything, only whiting out the vag and sometimes only the actual lips. The bodies are notably realistic, with boobs being all sorts of real shapes.
It's high quality ecchi, a good story, and good action. What more can you ask for in a single work?