cries in shaven with a straight razor
cries in sugar and lemon paste
cries in cat dong scrub...
Ok, I think that writing an essay about historical hair removal for a porn game would be pretty stupid, so I'll just leave those 3 things people 30 000, 2000 and 1500 years ago used to keep their bodies hairless.
Having a bath in the castle, having a lord treat his squire as an equal, completely misrepresenting the actual function of a handmaiden - yes, all those things are completely unrealistic, compared to Europe since 300AD to the late 1800s. Having no body hair or ordering a dildo - much more likely.