Haru is not beating the allegations (I speculated a long time ago that she's actually a huge freak and the innocence is just an act/repressed trauma from her mom)
I am of the opinion that it would be ideal if she was super comfortable with the most degenerate stuff imaginable, because of her family - but she sees it as "whatever", and is thus super wholesome/innocent just because she's so used to it, that nothing ever registers for her the way it does for every other living thing.
And the reason she appears oblivious to it all, is because she's so acclimated to insane shit that it's effectively "invisible" to her.