The story concept is great!
but,
Mangaka illustration of everything is too weird.
The animal body ratio is wrong or plain degenerate.
The mother looks like an elf without other trait for a succubus even cloths. ( a reasonable reason for fan service aside from bath time)
Clothing style suck because mangaka focus on excessive fan service instead of storytelling or common sense. (no reason for fan service during combat or learning)
The mc experience 2 distinctly different teenager life but he doesn't have any caution after being raised by his mother or naturally developed fear for strangers after only living with his mom and beast friend for a long time.
The fact that female combatant goes to hazardous area with bikini armor, when many plant have tiny hair like poisonous thorn they have to constantly brushes with there. Their skin will have so many scar, blister, itchy bump, raised area and dark patches after a week and if they brushes with those with open wound... ugh.