To be honest, I do not see the problem with nudity.
You say you are 40, have 4 kids and a wife.
In that age you personally shouldn't have a problem with nudity.
Your wife should have no problem with that as well.
Your kids (based on their age) should either have no problem with it (16+) or be kept away from the screen.
It's simple. You can personally play this game, you can direct your character and tell him what to do. Should there be cutscenes with surprising sex or nudity scenes (and someone who shouldn't see them is in the room) you can skip them, should you have to talk to someone and suspect such a scene you can prepare for that and either skip or look if someone is around who shouldn't see (or lock the door if you need to). If you have to go into a brothel or bathhouse you can do the same.
There is only one single reason that I would understand why you would not be able to tolerate this nudity, and that is if you are a very religious person.
Other than that there should not be a reason.
If you personally have psychological issues with such a display of nudity you shouldn't play the game.
If you think your children are too young there is ways to keep them from seeing it (hell this game does have manual saves, if it is really so important and a situation occurs in which someone who shouldn't see might see it simply shut down the monitor and then turn your PC off. Once this person is gone restart the PC and load the last save).
If you wife has a problem with the nudity you should seriously talk to her about it, because I personally believe if someone has problems with such a display of nudity, but is fine with any kind of violence and dismemberment it is not healthy at all.
It's JUST SKIN after all, and all humans look the same on a basic level. Women have boobs and vag*nas, men have a penis and everyone has skin and hair and muscles. I don't see the problem.
Just saying. Not raging or anything. I'm just trying to say it makes no sense. There is a solution for everything. If it's because of you, try to resolve your issues, if it's because of your wife try to talk to her, if it's because of your kids just try to keep it away from them and be mindful when playing then nothing bad should happen.
If it's because of religion, well, I can't change that and I respect it, you can probably skip most full nudity and all sex scenes, most sex scenes can be avoided anyway I think.
I personally think that seeing a woman or even a man (which seems to be even more of a tabu) naked in a movie or a game is not bad. And it does not HAVE to be arousing or sexually exciting in any way. In fact I often find myself watch such scenes and - when not being in the mood for anything sexual - still admiring the aesthetic nature and composition of the cinematic without having sexual feelings.
Just a word from me. Again, I'm not raging, just trying to have a civil discussion and offer my POV here.