I agree, I could have lived without the bedroom scene. When I'm listening to an audio book that gets too explicit I just fast forward until it is over. When I'm reading a book I just flip the pages until I get back to the plot.
That said, I love the casting for Outlander and although it has been several years since I read and/or listened to the books, it seems to be sticking quite well to the original. I do appreciate the little "in depth" thing they do at the end of each episode to explain why they chose to do something. They didn't seem to have an explanation for that opening bedroom scene, though.