Your suggestion @akashako doesn't hit the same as the 'mentally challenged' trope though. Your example exposes those problems: part 1 shows they have sufficient mental faculties, part 2 is describedrunk+25 which also overlaps with your description.
I would propose;
"Sexually oblivious"
"When a character is unaware that the sexual act they are performing are sexual."
Worded specifically like that to not include non-direct acts done by someone that cause sexual acts to someone else. For example, when someone is messing with a remote that controls a sex toy being used by someone else, but they can't see that person.
One example for sexually oblivious #110182|Fresh cream Alice|1,130