There are I think four different endings, but they result from the same point very close to the end of the game. So yes, just go ahead and finish it. There aren't drastic differences in the ending no matter what you do earlier on.
As for the sex - I thought the scene mentioned above was way out of character for both of them. (I was not a big fan of the last 1/3 of this game - everything after the amusement park just didn't work for me.) I also thought the interactive sex in the European version was unnecessary, and I'm glad it was taken out of the US release. I don't mind sex or nudity in games if it has a purpose, but that just felt beyond gratuitious to me. In the US version it cuts in a way that tells you exactly what happened, without forcing the player to "perform", so to speak.
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