And this after all those yeomen running around in tiny little miniskirts in the original, Deanna Troi in her skintight leotards in TNG, and a scene in Star Trek Enterprise where a male and female character spent about a minute in their underwear slathering disinfectant gel all over one another in a decontamination chamber.
Not to mention, Seven of Nine.
I remember in the first reboot of Star Trek we saw Zoe Saldana, Chris Pine, and Rachel Nichols in their underwear.