Leda: The Fantastic Adventure of Yohko (1985)

The main protagonist wears a medieval warrior outfit that's similar to a bikini and exposes a small amount of cleavage, but this isn't accentuated, focused, or even commented on. No real nudity besides this.

Occasional science/fantasy violence throughout. It is usually presented in a highly stylized fashion and rarely results in any human injury. Many robots are blown up during these sequences. The most graphic incident involves a brief battle between a superpowered girl and a flying manta ray. She kills the manta ray by stabbing it in the head with her sword and black blood fountains out from the wound.

The only onscreen human casualty involves a man somewhat accidentally falling into a pool of lava (not graphic).

The main villain can be mildly frightening and/or sinister. The villain has the ability to make people hallucinate and give them nightmares if he wishes (e.g. make a man imagine that he's falling to his death), but none of these are disturbing or upsetting.