There are a lot of people who can't accept how in Mushoku Tensei, the protagonist remains a pervert even after he reincarnates. It's the same in the original work. But it's not as if he has loads of regrets about being a pervert in his previous life. That's why in the isekai he doesn't necessarily think, "I'm going to live life seriously! That also means stop being a perv!"
Tentatively speaking, in the original work, he's 100% a perv and 0% serious at the point when he is born. When he decides to "live life seriously," it settles down to 20% perv and 80% serious, but since the anime doesn't include that moment of change, the perv ratio feels bigger compared to the original work.

I also think that when he did that to Roxy's panties, he still wasn't acculturated in the other world, and he half-perceived people other than himself as something like video game characters. I kind of think that he still wasn't aware of them as other people living their own lives. His understanding of other people goes up at the end of episode 2 and in episode 3, so look forward to it!

I think that as his level of understanding goes up, he will do less criminal actions and other things that ignores other people's feelings. However, his fundamental nature as a perv won't change, so if you're one of those people who think that being a pervert in and of itself is bad, I hope you don't sweat it too much!

Если нравятся истории про политику, интриги и заговоры, мне казалось, что ты упоминал подобное, то я искренне рекомендую тебе почитать неплохую китайскую книгу про попаданца. Название "Родословная королевства", попробовать точно стоит.