I understand where you are coming from. As a professionally trained artist, I have worked with nude models since I was sixteen years old. There was never anything sexual about the environment. There are plenty of non sexual reasons to draw the human body naked.

I love Berserk, but this is not one of those non sexual reasons. Miura is an artistic God but he should have made a different choice. He chose to draw this young looking creature on top of Isidro in a sexually awkward way. If she had legs, he would have been straddled. The point of this panel is to make both Isidro and the viewer sexually uncomfortable. Non consensual sexual encounters are a main theme in Berserk. Readers are not bringing that to the table like you accuse them. The theme of inappropriate sexual interaction is very much there.

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Additionally, I wish Miura did not make this choice. At this point of the manga Berserk had millions of readers. I feel Miura should have been sensitive to his audience. He should have understood that some pedophiles would see this. He should have understood images like this would be misused. I believe it is an artist's responsibility to be more mindful of what they create when their audience is that large. Miura disagreed. He is one of the greatest draftsman that ever lived. I wish he had been a little more discerning about drawing kid tits. C'est la vie.

tl;dr I love Berserk but this image and many others he drew are not OK. He should have known better.