Hmm. It is and isn't a touchy subject due to morals versus creator content versus viewer/player insight. While I have no issues with nudity in any of the art formats. Long as it has context to character growth, plot, sidestory - to even throw-away gags would be okay now and then.
Given the theme and style of PSO2 NGS it could work as more sidestory aspect with throw-away gags. It is too early to really say it would be more character and plot, if it did I have a feeling it would be cheesy and brief moments I.E. Starship Troopers style.
You plus a handful of the NPCs you are with just doing basic future paramilitary / Merc Team activities as t more quests and cuts get added. from travels, sleeping/eating bathing to joking with random bits of dark and light humor and foreshadowing mixed in.
I saw go for it. With certain color and body combinations already you can make a CAST appear naked from the waist to the knees. Though it isn't "nudity" it is just common knowledge and application on color use - Though due to the context of the subject wont add pictures to show, anyone who wants to see can click under their own choice.
Again, not naked, but using the coloring to fit the concept of this thread to show it can already be done with casts; as you can tell in the close ups, one can easily tell the difference in the contrast, to texture, shape and design with the coloring. And better the quality the more it does become noticeable.
So just random areas were players can go full birthday suit with little to no mob threats wouldn't hurt. Just provide it as an instanced area that gives a warning that there be nekked peeps ahead.