Quite infamously, in Kingdom Hearts II and II Final Mix it's possible to maneuver the camera underneath Kairi's skirt and find a fully-rendered pair of panties with a little bow. The Radar did catch on to that one—the panties are no longer present in the HD remasters.
Later, in the same scenario, Hades appears and is shocked to find that the one defeating all of his minions is a woman. His eyes are initially on her face, but then drop a few inches lower before Zack suddenly gets his attention.
In Kingdom Hearts I, Sora talks to a woman before she's killed by the Heartless and it's implied she's a prostitute trying to proposition him.