Peter and Eden kiss a few times, but not in a sexual way (they are married).
Married couple kiss. Not sexual
Rape is implied with Mary as a soldier shoves her down and approaches her. Two men smell her and imply they do not want to have sex with her.
A man returns from a long journey and wants to reunite sexually with his wife but is prevented by unwanted guests. Tastefully done and played for laughs.
Peter's wife sits on his legs and hugs him in the first episode.
A woman performs a dance but it's not sexual since the woman is related to Herod. It's as a birthday gift.
A joke about circumcision is made in season 4.
There is a joke about seminal discharge in season 5. Would go over the heads of young children, but curious ones paying attention might have questions.