I've actually never played either Xenoblade game but I watched an LP of the first one and I found the minimal fanservice it had to actually be quite tasteful
not to mention by way of each character INCLUDING the Men having optional sexy fanservice costumes, it was equal in it's fanservice and wasn't purely the girls being objectified, nor did the game ever really draw attention to the fanservice in any substantial way because it wasn't important to the plot
I've heard Xenoblade Chronicles X was more heavy handed with it's fanservice but still focused more on it's actual plot more than it did on being sexy,
but with XC2 they apparently went full on Sword Art Online character designs and bad Harem anime comedy