I'm actually not sure but googling it i see it goes as far back as the beginning of the game in 2014. I'm not sure if it's always been there, but I'm guessing the actual interaction between sims has been around for a long time.
Wasn't Get Together where they added the ability to go naked and streak?
Anyway, I doubt this is by design in this case, simply because it's just...wrong.
Can confirm that my young adult can dare his younger brother (child) to streak. You get the option at mischief level 3. The child did not streak, but got the energized moodlet saying that he did.
This is in base game with RG & freebies, no mods or cc; never used. Odd behavior.
