Not exactly.
I do enjoy zenra and casual sex like Pollinic Girls, but I was wondering if there's something with actual story aside from "here's a world where sex is casual, so let's watch them have sex in public".
Like, in Strike Witches, they're genuinely fighting a war, and it would still be a half decent story even if they were all properly wearing pants or skirts. Actually, now that I think of it, if they were wearing skirts, but the camera still got a lot of pantsushots, that would become an ordinary lewd ecchi and loose this part of appeal for me.
It doesn't have to have sex or full nudity too, in fact if there's some fancy clothes that just so happens not to cover private parts that's even more erotic then just plain nudity.
Another close example that just came in my mind is Bouryaku no Zvezda. Both Venera ( http://www.world-art.ru/img/character/2447.jpg ) and Natasha's ( http://www.world-art.ru/img/character/2442.jpg and http://www.world-art.ru/img/character/2451.jpg ) costumes would be considered indecent in real world, but in the anime no one ever makes a single remark on that as far as I remember. They still cover the privates though, but you can't expect more from an anime, I guess. And, again, there's some actual story going on (even if it's somewhat surreal) and not just showing off half-naked girls, nothing close to erotics even mentioned in the genre, it's "Action, Comedy, Fantasy" according to MAL. So if you know of more anime where main charachters wear costumes like that on a regular basis while their level of indecency is totally disregarded by themselves and other charachters alike, then I would like to check that out too.
But also I've thought if anime nowadays can go this far, starring a half-naked loli as main charachter for a show which genre is not even anywhere close to erotics, then certainly one can expect manga can go even further? Like take all the same elements: a story that is decent by itself and some loli charachters in ridiculous clothing, only just make it a bit more ridiculous by actually exposing the private parts, but still have the world treat it like it's a decent thing to wear. And make a manga of it. Have no one actually done that by now?

P.S.
Another example that just came to my mind is Flamie from Rokka no Yuusha: http://vignette1.wikia.nocookie.net/rokka-no-yuusha/images/b/b2/3-11.png/revision/latest?cb=20150616184236 . Quite a costume, but as far a I remembrt no charachter ever commented on it or even looked at it in a way that suggested they were aware of the costume's erotism. And certainly it was never a focus of the story. So I can easily imagine all the same things could be done just with her costume being even more revealing, most obvious thing being not having that belt over her breasts, then maybe some more alterations could be done to reveal her pussy, and everyone in the cast still ignoring it. Not in an anime that runs on TV, but in a manga it is not impossible to imagine, is it?