The places where it matters are limited, but in Harem Hotel there are a number of exhibitionism scenes where you force the girls to give you their panties and or do other things in public. It's limited to those instances however. You can also take your elf maid/slave's panties at any time, but this doesn't seem to remain 100% consistent, for instance, she may be wearing them if you take her to the cafe (where a lot of the exhibition scenes are) however if you take them and then spy on her in the hotel, she'll normally still not be wearing them.
Beyond that I can't think of many where that's a major feature. I mean, games like Corruption and Solvalley School have this kind of stuff, but the way they do it is either completely a singular instance or its a permanent change based on raising their corruption.