Yes, but never full exposure. There are several butts and quite a few times when the audience is supposed to think, "She is very, very naked right now," but the actresses wear pasties and you never see anything outright scandalous--it's always covered up.
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It doesn't not contain any nudity at all.
Yes
is there going to be another season of xena warrior princess
Yes. They run around the beach with no clothes usually. They bathe naked too. there's your nudity.
Steve Sears, a Xena writer and producer said that the title "Warrior Princess" was given to Xena by her troops. Another explanation is given in "The Debt II", when Lao Ma says that Xena will help her rule, and says "you will be my warrior princess".