Probably a good battle strategy, if you think about it. I'm about to engage in battle against a warrior decked out in full metal armor, alright, I've done this a thousand times, I got this. But I'm about to have a one-on-one with some nekkid dude with a tie-dye ball sack, well, I'm man enough to admit he's got the psychological advantage already.
I've not played BG3 yet, so any opinion of mine has a bit of ignorance in there... but having played all the other BG games, plus Icewind, Tormet, Mass Effect, Dragon Age, etc (all the "kinda the same type" of games) I'm pretty sure all that stuff is only a part of your playthrough if you want it to be. Someone who knows better can correct me if I'm wrong, but if you're getting all anal probed by your halfling cleric or something, probably because you chose that. I don't think it's has any mandatory "lets bang a bear" scenes or anything like that.