Baldur's Gate 3 is the horniest RPG I've ever played and honestly it's a bit much

That exists on every character.

Every character can toggle visibility on helmets and toggle aesthetics as "camp" or "armor". Camp can be nude if you like. When toggled to camp it doesn't seem to effect stats in any way, just what they look like.

All characters have that. Hit tab to open team view, and on the upper right of each characters window there's a little checkbox to toggle it on and off. Camp armor and regular armor.