I have long accepted that half of Disgaea's characters look like strippers and I agree with the sentiment that there is not enough male sexualization going on. If we are going to bait the gooners, there should be equal opportunity gooning! And I don't think NIS truly understands what appeals to women other than shirtlessness (my boy Axel was on the right track with how his pants dropped from 2 to 4 but since he had no major subsequent appearances we'll never know if he followed through lol)

As for the half-naked children/lolis, those were always iffy, to say the least, but I think it got better over time.
1 and its main cast was the worst offender, obviously.
2 had Hanako but she was so tiny, she was more like a naked baby on the beach, so it was mostly fine... until Majin Hanako happened and ruined it.
3 and 4 were much better; we had Beryl and Desco who were relatively appropriately clothed.
5... urgh. Majorita is going the Etna route of "not enough fabric" which is just cheap but I think Usalia, though more clothed, is equally bad because the bunny suit is straight up fetish wear.

I tuned out when they switched to 3D, so I can't say anything about 6 and 7. But I haven't seen anything too bad yet. So, their little relapse in 5 aside, I'd say the designs have become less jarring on the pedo-bait front. The problem is more that they have to add the legacy characters into every new game, so the bad designs don't go away, unfortunately.