all rumiko takahashi series except her newist manga have fanservice, but it's less perverted and more natural I suppose, mostly causal nudity.
Inuyasha is definitely one of the less fanservisey
if you want a ranking of her works from most fanservice to least it would probably look like this>ranma 1/2>urusei yatsura>>>maison ikkoku>>inuyasha>rinne>mermaid saga>one pound gospel>>>mao no fansevice at all
also to be aware of is in the maison ikkoku manga, there's a sex scene
but it's very respectful and isn't what you'd consider 'H,' and it isn't in the anime.
hope this was helpful