Fate became famous off the fact that the story was so damn good, people didn't care about the adult scenes, thus is how the anime was born.
Really though, the VN is probably the best way to experience it, as it gives you all the details of between scenes, and why it actually occurs.
There was a surprising amount of detail they let slip past which was very interesting, like what exactly happens when Emiya's hyper healing kicks in. Details I believe that are actually important for character backgrounds and plot points.
Also, because I have connections I shouldn't:
https://matou-sakura.tumblr.com/post/99258348771/playing-fatestay-night-realta-nua-on-mac-os-x