I know that me saying this will get a negative reaction here, but it's so odd reading about American TV rules as a European. Like blood is allowed, guts are allowed. Watch the walking dead and you'll see a dude get his intestines ripped out. But you better not show a female nipple! You better not swear! It kind of makes sense that America seems so violent and obsessed with violence, guns, etc. Violence is the only adult content that is allowed and not taboo. Very strange.
In Europe you're allowed to show pretty much anything after 9pm (known as the watershed). So if you're kids are still up and see a woman getting a dick in her ass, that's on you as a parent.