No explicit sex or nudity, but there are some characters that wear very revealing outfits. Lots of panty shots. The more busty female characters have some bounce effects on their breasts when they move.
Valentine and Cerebella have copious amounts of cleavage showing. It is also occasionally implied that Valentine uses her bosom to hide weapons.
Valentine's victory pose consists of her bending over, putting a thermometer between her breasts, and breaking the tip off of the thermometer.
There's some occasional innuendo during cutscenes, like a man grabbing Filia's bottom before he's interrupted, and Parasoul's younger sister poking her in the breast to annoy her.
In the 2nd Encore edition, there is a gallery mode that allows players to view stills from the story as well as other artwork that can be mildly suggestive. Still no explicit nudity.