(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
Someone explained to me once that this sort of stuff isn't made to actually explore things like the civil rights movement, but are made to make white people pat themselves on the back for "caring" so much about civil rights without actually needing to confront anything shocking or worrying about society.