I do think that there is an issue of safeguarding, and of privacy for a child’s body, if you are making it okay for young teens and you to barge in to toilets, showers, bedrooms etc and okay to see people naked as it is ‘family’. I think we are all learning about respect and safeguarding for children, and this is one area that is worth taking a good look at.
Most abuse does go on in families, so saying to a child nakedness is okay within families but not outside is a safeguarding issue I think? It’s really not okay to be sleeping naked with teens in our beds for example, or to be walking around naked in front of them. As they grow into adults, they might happily walk around naked with their partners, in their own homes, that is totally up to them.
That is not to say that every accidental naked instance is abuse, or that we can’t also be totally comfortable with our bodies and our own nakedness. I am completely comfortable with my own nakedness! I am not a prude and it is belittling and really off to use that to put down other parents who are more private. As a parent my job is to help my kids feel good, confident but also safe and to have boundaries.
My parents were bought up catholics so they were the total opposite and over shared massively. Thought of themselves as very liberated but made me and my siblings quite self conscious to be honest. I still find it cringing although I know they didn’t mean any harm. I didn’t want to see their bodies, why would I? There were problems with lack of boundaries in my home growing up and I am more conscious of this. I don’t shriek in horror if my kid opens the door to the bedroom by mistake, nor do I fuss over the smallest as he’s still learning about privacy, I don’t make it a big deal. However I do teach them to knock, I do say their bodies are their own. I even have shared hotel rooms with my teenage son - but we very naturally get changed taking turns while one is in the shower, we have twin beds, I wear pyjamas instead of my short nighty etc - it’s not a big deal but I think it really helps feeling respectful.