Well that's not true either, they revoked both Dual Princess and Super Seducer after they both wound up on the Steam ban list. So they're clearly using some metric on what's allowed on their own platform. Dual Princess was banned from Steam the same day it released on the switch and a few days later they pulled the Japan version and then later the US one. Both CERO and ESRB would not be in tandem since they both have different guidelines and are not in direct communication with each other. The game was supposed to be put back up, but that was 6 months ago which to a very long time and usually means they're having to rework major portions of the game or they were shown the door/getting the corporate runaround until they give up.
Sony's policy isn't geared towards general nudity and it more centered around getting rid of lolicon/underage. It's why martha is Dead had the face peeling scene turned non-interactive because they don't want interactive sex or graphic violence being depicted happening to minors.
It's why Senran Kagura's dressing room interaction thing was removed but nothing else was, because SK has characters who look like they're under 18. Meanwhile all 4 Legend of Heroes games were left untouched because they feature nothing like that.
Sakura Succubus 5 had to alter stuff for the 5th VN because it specifically featured an under age character as the main draw and it was specifically for the PS4/PS5 version they had to do this with, since the dev was already kicked off of Microsoft's platform a few releases ago, but Sony allowed Sakura Succubus 1-4 to be on their platform while Microsoft did not and those 4 VNs had no real changes from the switch version IIRC.