To try and make the discussion more "serious" I think it would be a good thing if the PC and all of the companions had a quick swap between armor and "casual clothing" which is used at camp at minimum. Possibly even when in Baldur's Gate.

I mean, I know it's not traditionally how D&D has been understood to work. But traditionally speaking, armors are only donned prior to battle. You certainly wouldn't walk around town in full plate. It would make encounters more interesting if you could be ambushed while waiting in a tavern in casual attire.

Take care of this, and what more do you need? Outside of cutscenes the characters are generally zoomed too far out to ogle anyway. And the number of talking sexy warrior NPCs you meet is...uhh...I can't think of any.