I’d describe it as something awkward and even a bit embarrassing. Japanese games are known for this. For example, Nier Automata has intense scenes where silly robots mimic human behavior, including imitating sexual activity.
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YT (that is, Yoko Taro, the crazy author behind Nier series…) is known for his, well, bending the norms, and albeit B2’s hind quarters is scientifically researched 
as one of the best fanservices ever, so albeit I have put aside N. Automata around 15% because, well, I can’t make head nor tail of the YT-style convoluted story & narrative.
(enough inside the game to appreciate the reference to the paradox of the Ship of Theseus…), so I can’t say about the scenes you noted.
Best regards from Italy,
dott. Piergiorgio
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You should definitely complete it and also give Nier Replicant a try. Even with all the fanservice (which is actually cool, though), these are excellent games with an outstanding story.