Adding to
Zippix's reply, things are easy if you're only asking out of personal preference, but do
not try the existing version if you have kids around, abuse-related trauma or legal concerns regarding the H content.
There is one mandatory scene in the prologue which you cannot skip outright AFAIK, but you can hold Ctrl and zone out for a few moments to make it fly past. And mute your speakers for the duration if you really need to. There is one other scene you experience by getting drugged in the tavern within the adventurers' guild, this can be skipped entirely however by simply playing the dungeon as soon as Vise allows it. All other scenes occur upon defeat, and if anything reloading your last save (F5 instantly takes you to the main menu) is more in line with how most dungeon explorer games work than the "you wake up from a bad dream" cop-out after the GOR scenes.
The standing avatar cannot be disabled from what I've seen but there's no nude version or clothing damage, just an erect nipple barely visible through her clothes while afflicted with the "horny" status. Honestly even if you do have kids around I would be more concerned about them seeing the optional quest boss (Alucard goes Cthulhu) rather than gawking at the boobies.