There’s a Hollywood “intimacy coordinator” named Dr. Jessica Steinrock who shares videos of her techniques. An intimacy coordinator works with actors shooting sex scenes for movies and TV.
One clip that went viral is her secret to making actors “look naked.” She uses flesh-colored strapless thongs, which are undetectable from the side.
Another video has a tip you can use at home. She uses baby oil to remove double-stick tape from the nether regions. It also works on Band-Aids, or athletic tape.