There's currently no stripping during escapes or battle, but we have been creating alternate outfits (such as nude) that can be selected before starting a practice escape, or with certain cheats explained in the changelog. We are hoping to implement progressive stripping during escapes, eventually, but this feature currently does not exist.
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Ah, I figured it happened during a captivity event, I didn't realize you had to select the outfit choice to gain nudity. That makes more sense XD. I imagine there's a lot of work that goes into to try and bring in such mechanics. It does kinda suck that the creators of DID don't much enjoy sexual content.