(Game here is Parasite Eve 2)
It didn't happen in every game but often enough that it's noticeable. They're usually not shot as straight-up titillation, instead going for a tasteful nudity kind of thing and intended to fulfill some kind of storytelling or characterisation purpose
"You see, you gotta show them being vulnerable. They may be badass, but they're still girls, after all" 
-90s game director, probably
I like PE2 as well, probably because I enjoy Resident Evil so much I enjoyed the gameplay. As an RPG 1 is kind of barebones honestly when it comes to the gameplay, outside of the gun customization but once you know how to abuse it you can cheese the game.
But Aya is a cool character because she wasn't just some bimbo as was tradition in the 90's with women in games. She was smart and professional and all around a decent person, even if like I said she was a cop.