Well, if you count zombie apocalypse as a SF genre, The Walking Dead is probably as close as you're going to get.
Otherwise, I feel like The Expanse, Westworld, and Altered Carbon are attempts on this... gritty no holds barred type SF which feature the underbelly of humanity pretty clearly... and nude actresses on a regular basis. To be frank, GoT is as popular as it was because is became an alternate form of porn for many (if you can ever get your hands on the website traffic analytics during its run, you'll see porn websites dropped in traffic substantially when a new episode aired and picked back up afterward. The things you learn during a marketing career...), but then got engrossed in the story. So, quite frankly, it would need to be some sort of sex soaked borderline porn series to be as effective, which also limits the networks it can air on to HBO and its clones.
But other than requiring more square footage of skin shown on screen than square footage of actress wardrobe, it would probably need to be something gritty and dark, with a fair bit of political intrigue and plenty of violence. And a little person...