Softcore sex best definition for me can be real or simulated sex that isn't showing penetration or actual sex, blowjobs, cunnilingus on camera. Most softcore scenes you will only see in a movie 18+. Also some softcore sex scenes has a hardcore version, 2 camera man taking shot for an angle that shows penetration and another angle that it is hidden.
Softcore scenes by definition don't show actual sex, the characters are nude, touching and kissing each other... all the way to implied penetration, but we never see stuff go into stuff.
It's fairly common for actors to use socks and (for women)pasties to protect their genitals while filming softcore.
Sometimes there are movies where the whole thing is a softcore porn... there used to be a lot of those.
But TV shows that aren't exclusively about sex(can be about anything, medieval times, fantasy, detective, futuristic worlds...) can include softcore scenes.
99% of mainstream shows that include sex scenes, the actors don't actually have sex with each other(at least not on camera).
Ximena's show "Entaglement" (effectively a joke about Intertwined itself) is a mainstream show that has softcore sex scenes in it.
If she fucks her costar she does after work, not in front of the cameras.