I mean... it's Rome. You can't really make a documentary about a lot of it without being pretty disgusting and absolutely sexualized. This is, after all, the culture that gave us the strap-on and earrings shaped as male genitalia.
So I am all about editing it down to make it accessible to people and not get a XXX rating. What is a little more important is teaching people how the Roman's shaped the world, not who the Roman's were.
But, at the same time, there is a lot of nudity and sex in this, so they were trying for a bit of accuracy...