Seriously most games on won’t allow you to go full nudity on console but Cyberpunk 2077 got around it. There are sex scenes you can have with escorts but you can’t see freely. I also haven’t ever completed it. But yeah there’s not really much use in the feature other than just to have it and being naked uncensored like.
It’s based on the Cyberpunk 2020 TTRPG. You could customize your character by adding a Mr. Studd sexual implement (or the Midnight Lady equivalent for female anatomy). I think they did it just to have comparable options to the source material.