I know it's not the focus of the game, and I would really want the underwear to be removed once inside of apartments and private spaces. They could also do what so many Sony games have done in the past, and that's put restrictions on when you are able to take screenshots. Some games, during certain scenes like account sensitive information showing, games will block the use of screenshots; furthermore this could be implemented across every version (share button and printscreen does nothing during sex or private residences) and it is not a hard thing to do. It at least would curb the impulse to share every screenshot of graphic nudity, but I digress -- the cat is out of the bag, and there is no putting it back into the bag. Having a scene with a penis or a vagina, while simultaneously blocking breasts or chest area, then showing genitals in the vanity screen while making us wear underwear in 1st person for some archaic and obscure ruleset because parents just won't pay attention to warning labels is insulting to those of us who are in fact over the age of 18. I would have rather they not had any nudity at all than tease us with half of it to coddle people who just can't control their own impulses.
All of that said, I do agree that a certain portion of the game is pornographic in nature, and the decision to craft that for mass media consumption escapes me, but on the other hand, showing genitals for the purposes of playing a role in a video game with softcore sex scenes is not pornographic because it is also done worldwide on the big screen as a means to illustrate a character's motivations and desires, etc. There's a line that shouldn't be crossed unless you really want to sell this as X rated on the shelves of porn shops, but I'm worried they'll end up removing genitals altogether rather than giving us exactly what we want. They could perhaps add a piece of paid DLC as a means to inject pornographic images into the game to circumvent restrictions; it worked for Saboteur with the Midnight Club DLC, and I really can't understand why they didn't go that route to avoid censorship. This way moms and dads are happy their kids can't unintentionally be subjected to porno, and the rest of us can have a choice.