BG3 should have romanceable succubus companions with first person sex scenes. Just kidding. There are sexual references on BG1/2, you can even romance NPC's and sleep with a female Drow in the underdark(depending on your party, some members will freak out).
Hopefully, the Underdark will be just as 'memorable' as last time. My Elf Mage was very 'popular' whilst in disguise down there. The irony was delicious let me tell you.
