One of my favourite Lister moments is in “Entangled” where Rimmer is doing everything in his power to keep the naked woman in front of them naked for as long as possible and Lister just takes off his coat and hands it to her.
(It’s still a bizarrely sexist episode, really, but I like that bit.)
I haven’t seen the episode in question (I haven’t watched any of the recent serieses) but this rings true to both their characterisation as I remember it. For all his failings and his sex-obsessed nature, he really likes women. Once you get past his defences he’s actually a bit of a hopeless romantic.
The thing is Lister would absolutely love to see that woman naked – and won’t hesitate to tell her so – but it’s only fun if she’s naked because she wants to be, not cause she has to be.