There're some quick passing sexual references that are under detailed in nature but are usually comedic.
Nudity is somewhat frequent in the show (usually limited to buttocks and side breasts), but is non-sexualized with the context of the show.
A group of monkeys see a main character naked. Nothing is shown, but they remark that his genitals are visible.
A character is referred to as a "sex addict." Played for laughs.
A character fantasizes about two sisters being romantically involved.
A female character is tackled by a a male character. As he holds her stomach side down the the ground, she tells him to "Watch where you put your hands." Nothing suggestive shown, as she is simply trying to trick him into getting off her.
Female characters are briefly shown in their undergarments making wine.
All female characters wear outfits which show a lot of skin and emphasizing their legs and often their breasts.
Most of the nudity only involves naked stone-covered (i.e. petrified) humans that look like statues, so it's very mild. Nothing different than what you'd see in a museum or something. Not fanservice-y in any way.
Some of the female characters are intentionally drawn with clothing that is somewhat revealing, and in positions that are suggestive. Women's clothing often rides higher on the legs and camera angles sometimes come dangerously close to showing the pubic area by riding below characters in some scenes.
A few times naked men are on screen either for story reasons or comedic ones, but gentiles are censored carefully.