I think sex work should be legalized. However, the law and “traditional values” have a lot to say (mostly outdated ideas) about sexual activities. It’s the activities themselves, and the circumstances around those activities, which lawmakers have ruled illegal (or not) over the centuries.
Body autonomy doesn’t really enter into it, because you can do countless legal and illegal things with your body.
Body autonomy is more relevant in the case of pregnancies, because the mother’s life and health are directly at risk. Opinions vary on when life begins after fertilzation, but many would argue a cluster of cells is not a person yet, so the pregnant woman should be free to act in regards to her own body.