This is false. There are tons of M rated games with sexual and suggestive themes on both PS4 and Vita. Go to http://www.esrb.org/ratings/search.aspx select PS4 or Vita, M rating, content include: sexuality, timeframe: whatever you like and feast your eyes.

Off the top of my head, Witcher 3 on PS4 had sex scenes explicit as an American R rated film. Unless it features penetration, it seems Sony doesn't object to it.

That game was released before the new guidelines were put in place by the San Mateo office. This is a very recent crackdown.