First Agony is not about sex or nudity. It's about being in hell. I don't know why anyone would think that sex and nudity which are totally natural and even good could have anything to do with hell or be related to it in any way.
Second we don't know what is censored in the game on consoles, I believe it's violent stuff, torture, cruelty or something like that.
Third, there has been BOTH instances of sex and nudity and even more so, violence and blood in console games without it being censored so there is no good reason or excuse to start censoring any of that now in this particular game.
And finally it seems that the only uncensored version will be the one on PC yes, but the thing is I don't have a PC and I won't buy one just for one game that shouldn't be censored to begin with. So sadly I'll just have to give that game which I had high hopes for, a pass.
easy, because the second of nine circles of hell in Dante Alighieri's famous depiction, which seems be the one Agony is using, is "Lust" and hence is likely to be filled with Penises/Vaginas/sexual torture/rape
while "normal" violence/brutality and dismemberment are a-ok in the US, content that could be seen as sexual isn't and would result in an AO rating, which console makers don't want on their systems (they hate to be dragged into the controversies AO titles pretty much always spawn)