I find it rather laughable that people get all worked up about such things. Do they also get worked up if you take a 4-year-old to the beach where women are wearing Bikini’s?
There is precious little difference between a bra and panties and a Bikini. Other than Bikini’s have a very much wider range of color and style options.
It took me years to have my non-demonstrative mother-in-law accept a hug and kiss from me. Affection was just not part of her household growing up.