I've been to Tokyo Hentai Club in Shibuya. Foreigners only. They are a delivery health. Bath, massage, BBBJ, chat talk in a love hotel. No FS. Visited only once, had an amazing time there.
They also recently started a foreigner friendly soapland business called Paradise Inn
https://paradise-inn.net/ in Kawasaki. It's only a 10 minute walk from Shinagawa JR station if you're familiar with that. Since it's a Soapland I'm thinking that it's FS. Have not yet visited.
I'm in the same boat as you as I basically speak no Japanese.a