I don't think creative people who have an idea for something they want to make should have to say to themselves, "This deals with subjects that rating boards don't approve of, so I guess I just can't make it."
You're giving them too much credit here, and yes, they should. The ratings board is there for a reason: to keep the government from meddling. While it's not always fair, there's no question that people love to overreact, and if they let this stuff fly unchanged, they could've caused more headaches for everyone involved. This isn't the first time a game had to denied due to content, and while ratings boards can be a little too crusade-y, especially in different parts of the world, and their reasoning isn't always justified...in this case, I don't think anyone could've justified the sexualization of a child character in a commercial game like this. PQube wanted to keep it as close to the source material as possible, and if they really thought they could get away with leaving things unchanged regarding that character without causing a commotion, then they've officially learned their lesson and will hopefully choose their next game to localize more carefully. There's a case to be made for artistic vision, but at the end of the day, they're a company. Too many people's livelyhoods are involved to risk them over an exploitative bargain-bin RPG.
With that said, I looked around a little more for other ecchi games on the PS4, and I think a lot of what I was thinking of was for the PS3 and especially on the PC...Steam really doesn't give a fuck anymore, so if you want your titillation with the possibility of going all the way via uncensored patches distributed via the publishers' websites, you're honestly better off looking there. You get your cheesecake and eat it in all of its original glory, too.
On the PS4: I'm pretty sure the Neptunia games still count as an ecchi series? It's hard to tell, since they're actually decent RPGs now. Nothing mindblowing, and I still don't find a lot of its humor funny, but it's already a decent option that stands above most others I could find. Then there's Dead or Alive 5: Last Round - not purely ecchi by any means, but it knows how to do fanservice right on all fronts, while also being a genuinely fun and fairly well-balanced fighting game that's easy enough for casual players to get into. It's not Tekken or Virtua Fighter, but it still a stand-out fighting game series.
Getting into more blatant territory, I very much enjoyed watching streams of Akiba's Trip and Onechanbara, the latter I've almost rented several times in the past since it seemed like a cheese-y fun B-Movie-esque game, but I just have a hard-set rule regarding Zombie games - they don't go anywhere near my collection. I've already tossed what few exceptions were left in my library by now, actually. Otherwise, that seems very much the case, and it reminds me why ecchi RPGs doesn't stand out as much to me - a turn-your-brain-off silly, risque romp is best served in small doses, and shouldn't overstay their welcome...an RPG almost certainly will. That's also why I'm not gonna mention Senran Kangoku, since I was honestly bored to death by those repentive brawlers. That might by a problem more with the genre than anything, but I still have seen much better and more fun interpretations that what they've presented so far in the first two games...and it's only gotten weirder/sillier instead of mechanically more engaging from what I've seen...
Similarly, Gal Gun just seems like it'd be too repetitive to hold my interests, though more for the opposite reason than the others - there just doesn't look like there's enough content to justify a purchase, IMO. I has a fun concept, is very fun to watch, but unless it gets an arcade cabinet that I'd see at a rest stop near here, I doubt I'd ever play it, since it looks like it'd only hold my attention for a round or two before I've had my fill and moved on...that's, what, $2 at a modern arcade? $4? They got really expensive last I checked...
