In some episodes, Abigail wears low cut dresses
One scene where John Adams walks in on Benjamin Franklin and a woman while they are in the bath playing a game of checkers. The scene is played for comedy and there is no nudity involved, with the exception of some possible nude paintings on the wall.
A couple have sex a couple of times in the movie, though they are clothed and it is cut short before anything explicit happens.
We see a stark naked man being tarred. He is stripped and his bare buttocks are visible several times. There are also brief glimpses of his genitals.
We see a woman's breast clearly on center screen for a long time. There are two occurrences of this. One of them is due to a breast amputation.
A few sexual references, mostly mild. When Benjamin Franklin and John Adams visit France, there are some innuendos exchanged during a dinner. Also references to prostitutes.