For clarity's sake, it's not about the presence of nudity or sex, but about the sexual behaviour of companions.
Then absolutely yes.
I have no problem whatsoever with nudity and even explicit sexual content, but...
as I said in another thread I feel that outside of very specific character arcs and for story-relevant reasons, companions should DEFAULT into friendship/trust/camaraderie until "romance" is actively chased by the player.
I don't want to interact with the entirety of my party while feeling that any attempt to be even remotely nice to them may turn everyone around me into some pushy sex pest who also happens to be particularly whiny about rejection.
