Riker has a resting 'I-want-to-fuck-the-shit-out-you' face, it doesn't matter who or what is he looking at. Chairs included.
And the expression only intensified when he smiles (or looks serious, or looks angry, or eats Klingon food, ... you get the idea).
Data on the other hand is very well programmed in all manner of lewdety.
And Janeway had lizard sex with a lizard. And used holodeck exactly as everyone else on the ship - for kinky romance.
Vulcans get rapey every 7 years.
Klingons have to be bitten into sexy times.
Qs had full on intercourse in front of the camera.
T'Ana is sexy in heat.
And space-life-energy thing impregnated Troi as we watched.
Bortus laid a fertilised whoops, wrong trek.
But other than the mentioned cases, ... only many many more are not listed here.
The prime directive pretty much has a loophole clause that it doesn't apply in situations where it could become classified as a "space-genitalia-blocker".
It really did do "some Star Trek things better than Star Trek" (I dont actually mean that literally, it's more of a product of Star Trek, of generations of fans, and geeks, and fan-geeks) ... but unfortunately the brand-name showrunner responsible for it kinda represents the worst aspects of what that future society overcame in all those centuries of advancements.
There is a story about Gene coming down (to the set maybe), and wanting to check out the costumes Barbara March and Gwynyth Walsh were wearing personally. That as much as I recall. Not even sure it is a true story. Remember hearing it on Mission Log.
I don’t remember which episode it was, most likely the 26th episode of All the Asians on Star Trek which Amanda Wong (background artist on LD) is interviewed. I swear someone says there was criticism over The Naked Time simulation in “I, Excretus”.