Need I point out the old tropes of Bards sleeping with EVERYTHING that moves. Hell several D&D content creators have made fun of this since the beginning of time. (AllForOne, One Shot Questers, Critical Role to name a few).
Ah, I didn't get the joke, I bought it, the game is so harsh here that I'm not getting the humor anymore. AllForOne and Critical Role - yeah, I watched them, they're really funny.
Viva La Dirt League here recently released a funny video on BG3 (just in the theme of this thread) if you want a laugh:
This team, by the way, filmed their own game in D&D, and they do without the theme of sex, but their humor is great and the characters are very bright. About the lusty bard - I've been playing D&D since I was 15 years old and I've never seen anyone try to play this role, although it can be done very interesting - the image of Jaskier from "The Witcher" (in the English version, like - Dandelion) is an example of this, but in real rolepley to take on stamps like lusty bard, stupid paladin, etc.. - it's really hard. Coming up with a character and playing it in such a way that it's cool and not stupid, not to slip into nonsense and not to become someone who spoils the game and immersion of the whole party, I think, is a very difficult task.
But I think Larian certainly didn't seem unlikely to want to joke about D&D in any way, or D&D players for that matter. Especially since joke content like the one you cited, it's much milder than what's in BG3. Playing on baser instincts is a common mass-market game, it's primarily marketing designed to reach an audience that doesn't usually play RPG genre games.
Back on topic, here's an article that says the game even used special intimacy coordinators for the sex scenes:
That's to the question of wasting resources. Couldn't they just make the scenes simpler and calmer? Without the bear, without some of the other extremely unpleasant sex scenes?
AllForOne and Critical Role - yeah, I watched them, they're really funny. 
