Raphtalia asks Naofumi to spend the night with her, but he misunderstands and tells another character to stay with her, thinking she's lonely.
Characters visit a hot spring in one episode. One female character's breasts are moderately shown (tops and middle from various angles) with her hands covering her nipples. Her butt is also shown, though not in focus.
A female character holds a male character's upper arm into her chest, though the interaction is hardly detailed and moved on from relatively quickly.