In the case of DOA6, it was before the alleged Sony "censorship" rumors of recent years. So keep that in mind, DOA6 was released a couple of years ago.
The DOA6 example is almost entirely a case where Koei Tecmo wanted to be taken "more seriously" as an eSports game.
Now maybe you can argue that "eSports players don't play Dead or Alive", and only "casual players looking for sexiness play Dead or Alive". But... I know that's not true either. Some of my friends who were into fighting games were "serious" about their Dead or Alive combos / practice regiments / matchups / etc. etc. There are plenty of serious players in that group.
On the one hand: you got the "casuals" who pay $1000 for hundreds of costumes (Dead or Alive 5 was very famous for its DLC costumes). "eSports" players didn't do this, because they were more focused on the combo practice rather than playing dress-up with these characters. (In contrast, the players who did find the characters sexy, probably did play "dress up" more often and were into buying these costume packs).
Frankly: its not a clear cut case. I could very well see Koei Tecmo wanting to appeal to the eSports players, hoping that it'd propel their game to newer heights in the "serious" eSports ring (ex: Marvel vs Capcom 3 / Street Fighter 4). Furthermore, the "casual" audience argued that they deserved more influence than the eSport ambitions BECAUSE they spent all of this money on DLC costumes with no in-game effect aside from "playing dress up".
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In contrast, Bandai's "Soul Calibur" series never really had this issue. Soul Calibur can remain "sexy costume / dressup" for casuals, because Bandai's "serious" esports game was Tekken. (And while Soul Calibur's "serious" players definitely held side tournaments, they were always seen as 2nd class citizens compared to Tekken at the eSports events).
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Nintendo's "Smash Ultimate" example is kinda funny, because its clear that Nintendo doesn't really want Smash Ultimate to be an eSports title (despite it taking up a big eSports following). Nintendo's eSports ambitions are Pokken Tournament (Pokemon fighting game) and Splatoon.
Despite not wanting to be an eSports title, Nintendo clearly is aiming the game at younger audiences, so various characters are a bit more covered up in Smash Ultimate (ex: Bayonetta, Pyra, etc. etc.)