I wouldn’t say it’s more sexual, maybe because you were younger you didn’t pick up on what they were singing about. Eg some popular artists/songs from that era :
Boyz 2 Men - Ill make love to you
R Kelly (

) - too many to mention
Usher - nice n slow (a lot of hip thrusting in that video!)
Nsync - digital get down (about phone sex)
Britney - many sexualised videos
Xtina - genie in a bottle, dirty video
Mariah - touch my body
Beyoncé - naughty girl
Mya - my love is like woah
Sisqo- thong song
Even Amerie’s one thing could be interpreted as sexual when you really listen to what she’s saying. Of course as kids we’d happily sing stuff without thinking.
So many hip hop/rnb songs had bikini clad women in them (and that was the whole concept).
Re the videos, I think we just have so much more visual content now that we’re less impressed by music videos. IMO Sabrina’s videos are actually quite reminiscent of that early 00s era.