Those first few years of NYPD Blue were pretty explicit, nudity, there were a couple of scenes of David Caruso which left nothing to the imagination, several episodes, and they were on network prime time, not cable. I didn't watch too many of the Jimmy Smits years, none later, so I don't know if they kept it up, but I recall that was the major selling point of the show, that Bochco was pushing the boundaries of network TV.
I thought the only thing you saw on NYPD Blue was butt.