I think sci-fi, like with how it hid social commentary in plain sight, has a reputation for cutting edge sexuality. The amount of futuristic planets and so on where people wear artificial rubber fabrics, or where both genders are sexually aggressive without reproach or judgement (Klingons), or where gender roles are different, or where people's senses are altered or enhanced by their perceptions, psychology, mental connection with their partner, and attitude (telepathic sex in Babylon 5, etc).
Wonder Woman was famous for having heavy S&M themes in it's early history, before the comics community was subjected to the policing and censorship of the Silver Age. I feel like Gene Roddenberry was probably someone who also didn't see human sexuality as a sin, and was unsatisfied with the tardiness of society in catching up with his stance.
So, Seven of Nine's catsuit seems like a really mundane thing for people to fixate on, to be honest. We already had people literally entering each other's minds in sex, or going into a hormone-induced mating frenzy, and Seven's obvious beauty was more played for laughs, with Harry Kim's crush on her, if anything. As others have said Jeri Ryan owned that role in terms of acting prowess; it was complex and interesting, and Voyager was made far better by having this hilariously blunt, literal, rational, stubborn, aggressive, quirky, and instantly likeable character.