Male rear nudity is seen in a prison shower scene
A woman is shown in her underwear for an extended scene sitting and laying on a bed.
Woman and man strip down to underwear in a parking lot in the dark to remove wet clothes and put on dry clothes; woman removes bra and breasts are briefly seen from a distance.
In a couple of episodes, lead man strips down to his underwear.
A lengthy scene takes place in a strip club. During this scene, breasts can be seen intermittently.
Reacher is shown in the shower with a fully nude female. Only breast nudity is seen during this sequence. He picks her up and they begin to kissing erotically against the shower wall. It's implied this action then leads to sex as the female makes a remark in the next scene about how last night shouldn't affect their working relationship.