Sexual and Raunchy DnD campaigns exist, but usually the group of players drive the campaign there with DM/GM approval.
It's usually never the DM/GM initiative in my experience.
His inability/unwillingness to read the room and change course on the fly is very apparent. I haven't seen other episodes of the campaign, and honestly I can't sit through hours long RP unless I'm involved somehow, but I will say this particular snapshot came off as creepy as intended. He wanted to go there, and he was directing the narrative with a character that clearly didn't understand it was becoming kinda creepy sexual.
Commentary about the robot acquiescing (Youtube and Reddit) isn't taking into account that these people are actually Role Playing. The players were disgusted, but Elspeth remained in character to ride it out hoping (I'm assuming) that he would have the sense and tact to not go there in front of a LIVE AUDIENCE for what would be preserved on the internet for what I assume is all of time. (You put it out there on the internet, it really takes a LONG time to go away.)
A professional, social media connected, influencer that makes their living by being an internet persona that is decently known doesn't want this associated with their "brand". It's a bad look and could wind up denying you vital sponsorships among other things.
Plus it's just icky to not know this is going to happen and have to on the spot either take a stand and walk out or simply sit there and endure it as Elspeth did.
What's really disgusting is the extreme vitriol expressed towards Vana and Elspeth from youtube comments, but I suppose no surprise...