The Japanese games ratings board (CERO) forbids nipples and genitals in console games, it's why eroge have the sex scenes removed when ported to consoles, and western games that have nudity get censored for the Japanese localization. They put Quinella in clothes because there's not really any way to avoid showing her nipples/crotch in a game with free camera movement, unlike the anime.
There's nothing in this game that would require censorship, it's just a case of Nintendo deciding to base the Switch version on the western Wii U release because it was the most up to date release in terms of bug fixes and wanting to do one global version of the game instead of multiple. When games with fanservice are censored on PS4 but not Switch (ie: Super Neptunia RPG, etc.) it's just because of Sony's new policies they implemented the last year and a half or so.
Anime: https://www.youtube.com/watch?v=-MkLqxX2XaI
Game Trailer: https://www.youtube.com/watch?v=vl0YPIPUP9Q
The nipples and vagina are covered with long hair, there is no reason for censorship. It is more until they modified the hair to adapt it to the censorship.