I haven't played MGSV (partially due to story spoilers i've heard i don't like, might get it if/when it is on sale), Dragon's Crown (don't like the art style, and even if i did, not my type of game) or any of the Halo's past 2 (could not get 3rd on pc, lost interest), but...
I don't really mind half naked women in video games (though i will point them out when they seem out of place in the context).
But the explanation for both Cortana and Quiet, seem pretty stupid.
Explanation for the Sorcerer is not all that great, but atleast it is within the general aesthetic of the game, and the explanation (i like tits) is a honest one.
If you want to have a character go around half naked, then that half nakedness should fit the character, either through context of the situation the character is in, or the personality that the character has.
If they are half naked just for fan service, either come up with a decent explanation, or just outright admit that it's for fan service, half baked explanations are just insulting to the listener.
In 2 out of 3 cases here, i know of them mostly due to response to criticism, instead of the actual criticism.
(my impression of what happened, so i may have missed things)
Dragon's Crown:
Critic says the art is juvenile, artists implies the critic is gay (critic and artist later reconcile)
MGSV:
Critics think sniper wearing a bikini is silly/stupid/just there for fanservice, Kojima says it is for plot reasons and critics will regret their words when they find out why.
Critics find out why, and the reason is stupid/silly, Kojima later clarifies that it is purely for fanservice
As for Halo and naked cortana.
I heard about it, went "WTF?", and moved on not really caring nor hearing anything about it afterwards.