So Nauxus will not have intimate scene (like dom / sub scene)
As far as i can have is the scene at waterfall
Is for Nauxus the scene at waterfall is the only one?
Oh also I almost forgot you said everyone! (Well I kinda did so sorry....) And for that answer there will be a certain requirement to see if they can have a love route/sex route. That would happen to be if you can talk with them and they have a like meter in the menu, which basically everyone has you talk to that has a name does. Meaning almost everyone encounterable so far will most likely get a route for love or sex.
(Excluding enemy like meter, it has to be npc like meter. This doesn't mean that bosses you fight will be without a route though because of some bosses you encounter in the beginning and can talk with more later such as, Roushk, Scar, tank and gunnar.)