It depends on what the vision is supposed to be. If the dev was making a hentai game, but had the scenes censored, then that fundementally destroys the purpose of the game and ruins the point.
If it was a game like Stellar Blade which seems like it has a lot more going on in terms of story and worldbuilding, combat and death, then the sexual parts seem almost more exploitative and distract/clash with the primary themes. I have not played it and cannot say absolutely, though, in this case.
Then there are games like the Witcher 3 where sex plays a moderate part in the life of the protagonist and adds to the realism and grit of the world, and so sexual imagery actually adds to the game in that way.
So, I think it all depends on execution and perceived intent.
Edit: none of this is to say I support censorship, I think as long as content is clearly marked it should be up to the player what they want to see, I'm talking about what the censorship impacts in the game experience.