Shin Megami Tensei IV: Final (2016)

This game has "Sexual Themes" and "Partial Nudity" in the game descriptors for a good reason. Several female characters are depicted without tops, showing their breasts. The lore for several demons also mentions sexual content, the obvious to note being the incubus with the lore stating that "it ravishes women as they sleep, impregnating them and causing nightmares" and the succubus.