I guess it makes for a better "dividing" of the experiences. For instance, Xenoblade Chronicles 2 took it all the very wrong way. It might have a very compelling storyline and great character moments, but I'll never know because 90% of my time spent playing would involve a subservient girl dressed in micro-shorts whose breasts are each the size of her head. Plus, it has a ton of pervy scenes that are pretty much mandated for the story.

At least in BG3, the nudity/sex/lingerie seems to be somewhat optional to focus on, and doesn't generally distract from the experience.