"Quiero sacarte to', quiero sacarme to'" (I want to take everything off you, I want to take everything off me) is about as direct as an opening gets. "To'" is "todo" (everything) clipped the Argentine street way, and "sacar" here means to take off clothes. YSY A wants more than skin, though: "quiero mirar en tu interior" (I want to look inside you) and "mirarte como no lo hacen" (look at you the way others don't).
The verse turns it into a treasure hunt, with a cheeky "hay un mapa en mi pantalón" (there's a map in my pants) and "busquemos por partes, el tiempo es arte" (let's search piece by piece, time is art). Then it gets darker: his "voz envenenada danza en estos trap'" (poisoned voice dances on these trap beats), and he dissolves "algo nuevo que me haga mal" (something new that will hurt me) because for a moment it makes him feel good. "Gocemo' culpables" (let's enjoy ourselves guilty) sums up the mood.