Honestly, if Taylor is saying the outfit looks a bit like fetish wear, having straps attached to it is not going to help.
There is a difference between fetish wear and a climbing harness. If you look at the images in game, they look more the type of harness you would use to help lift a person up or to hold the entire body (such as when climbing mountains or doing rescues).
They've got a harness in the front around the chest and more harnesses around the thighs. And if you look at real mountain climbing harnesses, the ones around the thighs look almost exactly the same. The only difference is that the Chaldea uniform doesn't have the extra harness around the waist, which I'm assuming was left out for aesthetic reasons but is probably implied to be built into the uniform itself.
Or, as another visual reference, the harness has some similarities to the harness you would wear for a parachute. Not the emergency ones but real actual parachuting. You need all those straps to ensure the human body doesn't just break when the parachute is released. Same thing for mountain climbing.
So, no, if they specifically added this type of harness into the combat uniforms, then it is something that Taylor should be very comfortably familiar with. She had the hover/flight unit. She didn't put it on like a school backpack, she needed a full body harness. Again, to spread the forces out against her entire body and not just at the shoulders.
Taylor should never had gone with fetish wear, not when she came from Earth Bet. She would have instantly recognized the fact that there is a built in harness into the uniform itself. The existence of those harnesses means that the uniform isn't just one singular piece, it is probably multilayered with different pieces.
If the author is going to completely change the uniform, then there is no reason why the coloring was kept. If the coloring is kept, then it means the images from in game is valid. And the in game images shows there is a harness.