I usually only hear this phrase in a sexual context that tends to include babymaking.
That's common in my experience as well, but I've heard it used elsewhere. It's not always wrong or inappropriate.
I heard it once when I was definitely tangoing. I was an intern on call in the ICU of a hospital in which some attending physicians shared their cases with us and mentored us in exchange for the help we provided addressing issues in the hospital and creating the chart documents like the dictated history and physical that the attending only needed read and cosign.
But there were also the docs and their patients that we didn't see except if they coded while we were there, or died and needed to be pronounced dead. One such doc was a neurosurgeon, whose patient that none of us had been involved with, died after months in a coma while I was on duty, and so, I was called. The neurosurgeon on the case was disgraceful in his charting. The entry every day for pages and pages of chart notes was, "Unchanged" followed by an illegible signature. That was it. I was so offended, that when I pronounced the patient dead, opened the chart for the first time to indicate as much in the record, and saw what looked like something from The Shining, I couldn't help myself, and simply wrote "Changed" and signed it.
Not surprisingly, the neurosurgeon was not as amused as I and the ICU nurses were, and he reported me to the head of medical education, who read me the riot act, and at one point told me it takes two to tango. I don't recall why - maybe I was trying to put the blame on the neurosurgeon and his subpar performance - but I didn't argue, and frankly, he and I tangoed alright. It was so worth taking the hit. Here I am decades later with this story that still makes me laugh. I'm laughing right now.