There are two extremely brief shots of an orgy each lasting a few moments, once up close and once from a distance. Naked backsides are briefly shown. Full frontal female nudity is seen. Male rear nudity and side breast nudity is seen, all in sexual context. No other nudity during these scenes is shown, and no other nudity throughout movie.
Issa Rae is seen in her bra a couple of times. It's not sexualized, she's just changing.
There's talk about having sex in a public vehicle, it's quick and played for laughs.