Or put it into the storylines in such a way that it seems ambiguous enough.
I mean, come on, if they can have these women licking eachother and even kissing eachother, surely they have them tickling eachother on occasion as part of a plot point. I don't think we'd find it that satisfying if it just happened with no reason and only lasted for say a few seconds. It would need to be an actual part of the plot to the degree that it leads up to the tickling.
And they wouldn't be able to say they have no reason or excuse to have tickling when they already do the things they do. Maybe some diva challenge, where one of the first tests is to see who can pass a tickling without laughing sounds like good idea I think. It needs to be public and not in a bedroom in risque bras and panties, otherwise it will look compromsing and controversial, and the executives wouldn't allow it. It needs to be presented in an innocent enough way that people wouldn't complain about it, and it wouldn't see suspicious.