My pick for this is the Brady Bunch -- they wouldn't show a toilet, but they sure did show the folks in bed together.  There were also Lilly and Herman Munster and Ozzie and Harriet Nelson.

There was another show (15 minutes) that ran from 1949 till 1952, if I'm not mistaken, but I'll be darned if I can think of the name of it.  Hmmmmm. 

Don't get the wrong idea here folks, this was way before my time but I grew up hearing stories about it.  "Shameless people" they said.   I swear that my grandparents must be turning over in their graves with all the cr*p they advertise nowadays!