Dark Souls II (2014)

A specific type of enemy, specifically female spellcasters (formally called Desert Pyromancers), wear a rather revealing outfit. This outfit can be acquired and worn by players.

One boss character is a topless woman, with her breasts blocked by her hair. However, the game never focuses on this and it can be easy to miss with all the action, there's also another boss called Medusa she doesn't have a top as well.