I've only played Witcher 3 and found a lot of the interesting parts of the world to be the darker parts you don't see in other fantasy games, a lot of the themes of the quests are very heavy, like the bloody Baron's quest as an easy popular mention.

Therefore, the addition of places like whorehouses or other quests related to that deepen the realism of the world in a way that something like Skyrim would absolutely never, and if those bits were ever censored out it would reduce the immersive realism of the world, to me