Well, D&D has entire books focused on scary monsters, rules for brutal combat, graphic descriptions of burning your enemies and so forth. Not once did I read a D&D book titled '50 shades of vampire' .
If we're talking about maturity, then stuff like the Emperor's 'Achievement unlocked: Tentacle Pr0n' and Halsin's Bear stuff can go straight down the toilet. I was merely exploring some place, certainly - a brothel - when my party members suddenly suggest a threesome. Come on, man. You can't argue that that's because we're adults and exploring our relationship and all that. This is just immature fanfiction that made it ingame.
Now, I'm not against ses or nudity in the slightest. ALso. This game doesn't show us anything more explicit than say Dragon Age or Mass Effect, but I *will* argue that these titles had a more mature approach to them. I mean, Mass Effect was largely regarded as the Dating-in-Space game, but here at least, one could progress a friendship without sex. In BG3, it's sex or nothing.
1 - Are you talking about DnD novels or DnD sourcebooks? DnD sourcebooks definitely do NOT go into graphic descriptions of violence as it's owned by Hasbro, and a large part of that was to have kids play DnD. That's why if you go to an adventures league in America, many of the tables have children in them. As a comic book creator, I know quite well you cannot sell your products to children under the age of 18 if it contains a certain degree of violence (in America specifically.)
2 - You also just double down on my point, which is that our society (which includes DnD) has an acceptance and interest in violence while rebuking open displays of sexuality. Now DnD is a combat based game, for certain. But that's just because our society finds violence acceptable. We also know different displays sexuality are viewed differently within different societies. For example you can find nude billboards in certain countries, while Sin City had to had it's advertisement taken down in America due to an outline of a breast being shown. But her holding a gun, of course that's not a problem.
3 - You certainly can have friendships in BG3, as it largely just depends upon the choices you make. Especially with Karlach. In fact, I was surprised because one playthrough I started down the road of just friendship with Karlach, and suddenly tried a romance line just to see what would happen, and she entirely turned me down. It was interesting and refreshing. From there, I continue with just a friendship with Karlach.
4 -BG3 definitely took things farther than ME and DA for sure. Bioware were certainly among the pioneers, but the most displayed were female breasts (and possibly a butt.) But there was never genital and there wasn't full body shots.