will we be able to undress or change the npc's outfit in the future?
"Fabric Scissors" would be a great item for this, but I would imagine poor nargacu83 would need to program a way to "see" npc clothing slots. It would be neat if NPCs could use something like that on you.
From a gameplay standpoint, changing their outfits might be a little immersion-breaking as it would require a certain amount of "cooperation" from the normally "hostile" non-playable characters. (except for a fun straightjacket or something). Although, a strip/changing struggle mechanic could be fun (with similar squirm/wriggle struggle animations).
The other option for implementing outfit changes could be a "domestication" / "taming" mechanic, or a "sedation" mechanic via utilizing items like a Nitrous Oxide Canister/Tranquilizer Dart/Chloroform Rag. Sedation/Domestication could be treated like a prerequisite condition to access their clothing menu.
Also, I recently saw the police beta-testing a "grapple" gun on YouTube, which is horrific for protesters, but the em..." restraint enthusiasts" seem to like it (in theory). It could be a fun addition (probably a nightmare to implement).
If I were the dev, I would prioritize the more "titillating" animations/mechanics, as that is what brings in the ephemeral 'single download' funding from month to month. Obviously, arousal or light bdsm would take priority.