I've never had a problem with nudity. For a long time it was just my mum and me at home, so nudity was no big deal and we were both comfortable being naked together and we went to nudist beaches and the like on holiday. We both enjoyed the freedom (and quite enjoyed the attention, too)! Sometimes, when mum had a bf, or later when I was married and living at home, we just continued the same way - the guys didn't seem to mind and, mostly, were happy to join in.