Relatively speaking, it IS harmless.
Remember, we're talking about GTA here.
Given all the rest of the content in the game, having sex with your girlfriend ranks pretty darn low on the list of evils of the world.
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Ironically, the sex minigame is one of the most wholesome activities you do in the game.. Killing crack dealers, blowing the heads clean off of cops, carjacking, turf wars, drive-by's, acting as a damned federal agent on black-ops, working for and against the mafia, the triads, etc.. Even the tamer competiitions (racings, low-rider, etc) could be argued to be gambling or the ever-ambigious 'organized crime' due to competing for cash. =P
So we have a game full of moral ambiguity and malicious behavior of a most basic, violent level. ...Yet they're worried about you boning your girlfriend while you're fully-clothed for all intents and purposes? Where the hell was the whining to make God of War AO for /its/ sex minigame, tits galore, and violence..?