She does have a point on the panties being lewd because you take them off, many people forget the real art of eroticism.
If someone is just standing there naked well Whoopi fucking do there's just some person standing there naked that isn't special, but with the right undergarments it becomes erotic, showing enough skin to be tantalizing to your lust but covering just enough to leave the rest of the undressing to your imagination, to excite you, to make you want more in a way that them just being naked outright can not achieve.
A part of foreplay is also in the seductive art of removing clothes in just the right way:
Too fast and there's no time for your partner to enjoy it, to lust after you proper, to want you.
Too slow and the mood is ruined, impatience taking the place of lust.