The scenes and the brothel gather A LOT more attention than they should at best they are a fun plus to the game and at worst they are optional, not really worthy of the bashing they got.
I don't really know what voyeur scenes are like, and I honestly don't want to know.
The only time my MC set foot in the brothel was when he had to guide a succubus who wanted to work there as a prostitute (I suppose as opposed to the slavers forcing her to work as a prostitute). The only thing that interested me about this was verifying that my MC had never actually set foot in the brothel (and I verified that they acted as if he were a regular customer, which has since been corrected). After verifying that (which were the first few lines), I used CTRL until the MC was outside the brothel. So, most of the conversation that takes place between the MC and the madam is unknown to me (and I won't find out in the near or distant future).
the scenes were not avoidable from the start
And as far as I know, they're still not avoidable; you can simply not see them. At first, you could either watch them or close your eyes to avoid seeing them. Now, there's an option that allows you to do the latter without having to close your eyes. In case it's not clear, the scenes still happen.
The participants are strangers anyway, or at least people we'll never see again. Not that this make me like the voyeur scenes.
i would shoot them??? afterwards you call the cops and tell them you shot two home invaders.
If you do that here, you end up in jail, and they, if they survive, or their families, would get a good compensation.