For someone who revels in Z-grade JRPGs, you're pretty naive about the ways of glorious Nippon, magus. But to answer your question, go google "Seikon no Qwaser," keeping in mind that this aired on TV.
Let's be fair here- these shows air on cable/satellite channels, usually very late at night or very early in the mornings, and it's not like cable channels here couldn't air the same thing- for as much crazy perverted shit as they have, we have gotten "worse" in stuff like South Park and the like.
When I went to Italy, they had softcore porn on TV. Saw near-hardcore on TV in Israel, of all places.