I mean, the manga for Inuyasha was much darker and dirtier (as were most manga for the old school anime shows like Inuyasha, Dragon Ball Z, etc.). You also have to remember that when Japanese anime episodes are aired over here, they go under a lot of editing and re-dubbing to make it more "America friendly", which can be anything from changing the script to cutting out scenes to blacking out gory stuff to literally removing the guns out of people's hands so they're just pointing their fingers at people.
Thaaanks 4Kids. Kinda ironic how they thought America of all places couldn't handle guns.
So you can't judge it purely on the dubbed versions you watched as a kid and again as an adult. I'm sure you'd catch a few new things if you watched the original, uncut, Japanese versions of these shows - some of these things would indeed be rather shocking.
The Japanese do have a very innocent take on nudity and sexuality though. Primarily in Dragon Ball Z, you see Goku's man parts a lot when he's still just a child, but it's done in a way that isn't inappropriate because hey, he's a monkey kid from another planet and who needs clothes? Gets a little weird when he goes smacking Bulma's lady parts wondering where her penis is lol but they're written in a very "Boy meets world" type way, and the execution is just as innocent as the intentions.
Of course, when it comes to gore, they go all out.
Yeeaaaah.