The ESV translates things a bit more literally, which I prefer. That’s just the issue with translating Hebrew and Greek to English.

The word πορνεία (porneia) is use which is where “pornography” comes from, etc. So the ESV is probably more accurate in this regard.

There are parts of the old testament where the Hebrew literally says “Thigh” but the writer really was referring to a womb. So do you translate it as thigh or womb? Both are correct.