GTA V Nudity?

So I’m looking to buy GTA V, I’ve never played it before but I’ve heard a lot of good reviews. I have a PS4 which is connected to the TV and I really can’t have nude scenes showing up on the TV because my family is around most of the time. So my question is:

Are the nude scenes in this game essential to the plot? (Ex. do I have to enter a strip club or have sex to progress in the main story) I’ve heard that there’s only nudity if you choose to fuck a prostitute or enter a strip club.

Do the nude/sex scenes only show up in skippable cutscenes or are they part of the gameplay?