Final Fantasy X-2 (2003)

An antagonist wear a outfit in which the front part is show. You see "side breast."

The three character dress in skimpy outfits. You can change outfits during game play (it is the battle system in this game).

There is a part in the game where you (A girl) have to massage another girl. It is a mini game. It is not really sexy but kinda lame and pointless.

Some of the clothing on the female characters is fairly skimpy. Rikku's is the most revealing, as it's mostly just a bra and short skirt with a visible thong.

Also a character named Brother has a crush on his first cousin which can disturb some people.

One mission requires the you to disguise yourself as an enemy soldier and while in disguise you are ordered to give the boss a massage. During the massage she moans and cries out in an almost orgasmic way.

One scene involves the three main girls bathing in a hot spring and one character comments on another's breasts. It is not explicitly said, but still pretty obvious.