Escape from Galaxy 3 (1981)

A woman wears a skintight suit with only a star covering one breast.

The two protagonists come upon a couple making out. They awkwardly try to imitate the kissing, it's humorous more than anything. Eventually the couple gets scared away. No nudity.

A couple of the villager women wear skimpy clothing.

Bare breasts as a woman plays in a waterfall around 43:16 mark.

Bare breasts around 1:04 as the man has a make out session with one of the village women.

Laser sci-action.