Bullet Girls Phantasia from the same publisher (D3 Publisher) and studio (Shade) could fit that description as it was trying to see how much it could get away with the perverted stuff and it released on Vita/PS4 a few months before SIE started its witchhunt on niche japanese games. Samurai Maiden isn't remotely close to that or even Senran Kagura though, the girls don't strip in combat, the cloth damage is rather minimal, and only the DLC swimsuits (specifically for Hagane the cyborg ninja) could pass off as "fanservice".
Even assuming this isn't a shitpost, it's the kind of comment which reinforce my belief that western entertainment media has been sanitized long enough to make people (past my generation) think something as tame as Samurai Maiden is now "porn" just for the sin of having pretty female characters.
Unless this is has something to do with the graphics related to the game budget, then you're not familiar with japanese games in general. Earth Defense Force is what I'd consider the epitome of fun, with a simple formula (shoot bugs/aliens until there is nothing left on the sandbox map) and shoe-stringed budget.