Two of the sexual scenes are just implied. You can see very limited thrusting (within the 2nd) and facial movement in all. It's just the aftermath of the first implied sex scene which is graphic.
Nudity from female appearing humanoid giants, completely non-sexual.
A scene where a woman reaches into a man's crotch as she straddles him fully clothed. It is implied she masturbates him and then wipes his ejaculate on his hand (graphic).
Two non graphic sex scenes, brief thrusting and characters faces and upper bodies can be seen
A man has sex with a prostitute. They are nude but nothing is shown except for his backside. This scene is brief.
The Lady wears a blue dress that's very revealing and shows half most of her cleavage
The Lord kisses Sir Gawain and they linger, not meant to be sexual.
We see Gawain's nude rear as he gets out of bed .