There were a lot of scenes where characters, generally including T’Pol, would get “decontaminated” which meant rubbing each other down in their underwear.
Don’t forget that Connor Trinneer had to spend one entire episode in their underwear.
Enterprise was just a hornier show in general. There was that one episode where the crew were locked in their rooms (I think the Ferengi happened?) and Hoshi had to crawl through a vent, and she fell out of the vent and this somehow tore her shirt off so Malcolm opens the door to find her topless. Why did that have to happen? Geordi LaForge and Data didn’t get shirtless anywhere near as often as Trip Tucker and Malcolm Reed do.
There’s only one episode where they stretch the scene for an uncomfortable amount of time and have her and Trip really rub each other (as far as I remember).
Edit: The scene https://youtu.be/O4J9UDw6oiA
