In an episode Sinbad, Mystras and Jafar was being stripped naked, no private parts was shown, however, they remained naked and used Fig leaf to cover up their private parts.

A female character is shown nude being massaged. Afterwards, she stands up and the towel that covered her buttocks falls off. Her buttocks is covered by her hair. No nipples or anything very explicit was shown.

in the dub Sinbad says the S word a few times