Well...Persona 5 isn't a Sony exclusive IP at least since you have Joker in Smash and P5 S is on Switch as well.
Sony have been more harsh when it comes to sorry that's not entirely correct... they even censor contents with bathing suits when it comes to JRPGs or anime games, like One Piece World Seeker have the hot spring quest removed (But the female characters in the scenes aren't nude anyway)
The first point you mentioned is...kinda irrelevant. Joker being in Smash is completely separate from Sony
knowing what will be coming to their console, mainly because Persona 5: The Royal
is Sony Exclusive.
At least, I would think Sony would have an idea.
While i’m not familiar with the games you mentioned, I still stand by my point that we’re talking about teenage characters wearing bathing suits, or a leotard.
Frankly, in some cases the censorship thing seems like it doesn’t necessarily make a difference. If somebody gets off to characters in a game, they’ll find some other way to get themselves there. It’s that simple.
But eh, if they want to censor it, they’ll censor it.