What you're suggesting here would be a pretty drastic departure from anything that's ever been considered acceptable for mainstream media (in any culture). Naturally, nothing that extreme would make it past ANY censors (anywhere). Not with standards as they are in the world today. Frankly, I'm pretty sure that level of nudity would be almost impossible to qualify in a meaningful way, as I can easily argue that I can address the same issues impactfully while simultaneously avoiding "offending the sensibilities" of a significant portion of the audience. In other words, there is no need to go to such an extreme in order to explore the issue. If I choose to go to an extreme, which will invariably be found offensive to many people, how do I justify it? This is exactly where censors step in. It's about society at large. That is a far larger concern than one person's or group's views and freedoms.
This is where different cultures all need to meet in the middle about such things. In that regard, I don't think it's "Sony's" censors, in particular, that will be a deciding factor on what goes into the game or not, but rather what is considered acceptable for such media according to a (roughly) universally accepted status quo.
And just a general reminder about discussions like this -- we're getting dangerously close to real-world views on sexuality and politics. The conversation needs not to go there.
Personally, I think that CDPR has always handled sexuality very effectively in their games. If there's anything included in CP2077 that creates a major stir, I think it's more likely to be language, drug use, and/or a general lack of modern ethics as presented through gameplay. Which is its own can of worms. However, given the nature of those three items, I think it's far easier to push those boundaries without creating the mobs of angry townsfolk with torches an pitchforks.