Don't wait up for the nudity, it may be 90's actions (mostly, as someone said earlier, last action set piece is kinda weak, series seemed to be running out of budget/steam at that point) but it's 2020 nudity.
Overall I really liked the show. I also liked the first Cruise movie but this guy seemed to do a good job as well, particularly given the way that Reacher as been described as a character over the years (giant, almost superhuman strength, borderline autistic/mensa levels of intelligence as described above, kind of Holmesian in his relationship with people at times due to lack of engagement).
Show was funny and serious when it needed to be. A few fights were overly long and dramatic for plot reasons in order to give characters heft who didn't deserve it (guy with large ears and crowbar, holy sheesh that fight sucked).
I have never read the books; while vaguely in line from the Wikipedia summary, there was a fair amount changed but the spirit seemed to be maintained, better than the Jack Ryan season 2 BS. Hopefully the series continues to be at least this good.