The astral lounge feels like it changed late in development, and you look at outer worlds, also made by microsoft, theres no libido either. The same sort of high collar, long sleeve outfits prevail there. And Fo4 features slinky sequin dresses, a superhero caveman outfit, and whatever Irma is wearing.
I dont think that particular shot was called by Todd.
well in arena and i think daggerfall the player character had fully rendered nudity. but that was it. bethesda never really had much nudity in their games