I'd guess it's a number of factors.
The biggest, in terms of nudity is that the actresses (and actors in some cases) have more leverage in negotiating their second contracts than they had with their first. When you're young and looking for your big break, you know that if you don't do nudity, someone else will and they'll get the part. Once you're established and getting your face on merchandise and magazine covers, you can say no to it, or at least agree to fewer times per season and/or more money every time you're asked to do it.
Also, shooting scenes with nudity are more difficult and cost more because you generally need to have fewer crew members on set, plus they often have people overseeing the shoots to make sure no one is being pressured into doing something they're not comfortable with.
Another issue is that when a show becomes really popular, it might start getting sold for broadcast on over-the-air or basic cable channels where the content needs to be toned down. I believe the Sopranos aired edited episodes on A&E for a number of years. So, rather than needing to edit the extreme stuff out of the episodes for broadcast use, they just include less of it to start with.
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